TY - GEN
T1 - Maintaining visibility of a moving target
T2 - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
AU - Al-Bluwi, Ibrahim
AU - Elnagar, Ashraf
PY - 2010
Y1 - 2010
N2 - This paper presents a novel approach for the problem of tracking a moving target in a global dynamic environment. The robot has to move such that it keeps the target visible for the longest time possible, and at the same time, avoid colliding with any of the moving obstacles. This paper presents a solution that is based on the idea of three interacting components which perform: tracking, collision avoidance and motion selection. The proposed solution is validated using a comprehensive set of simulations, which show that transition from tracking in static environments to tracking in dynamic environments can be done without much loss in robot safety or tracking ability.
AB - This paper presents a novel approach for the problem of tracking a moving target in a global dynamic environment. The robot has to move such that it keeps the target visible for the longest time possible, and at the same time, avoid colliding with any of the moving obstacles. This paper presents a solution that is based on the idea of three interacting components which perform: tracking, collision avoidance and motion selection. The proposed solution is validated using a comprehensive set of simulations, which show that transition from tracking in static environments to tracking in dynamic environments can be done without much loss in robot safety or tracking ability.
KW - Dynamic environments
KW - Motion planning
KW - Target tracking
UR - http://www.scopus.com/inward/record.url?scp=79952375562&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79952375562&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2010.5707262
DO - 10.1109/ICARCV.2010.5707262
M3 - Conference contribution
AN - SCOPUS:79952375562
SN - 9781424478132
T3 - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
SP - 982
EP - 987
BT - 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Y2 - 7 December 2010 through 10 December 2010
ER -