Pursuit evasion in dynamic environments with visibility constraints

Ibrahim Al-Bluwi, Ashraf Elnagar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents a novel approach for the problem of tracking a moving target in a 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.

Original languageEnglish (US)
Title of host publicationIntelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
Pages116-129
Number of pages14
EditionPART 2
DOIs
StatePublished - Dec 29 2010
Externally publishedYes
Event3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 - Shanghai, China
Duration: Nov 10 2010Nov 12 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume6425 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010
CountryChina
CityShanghai
Period11/10/1011/12/10

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Fingerprint Dive into the research topics of 'Pursuit evasion in dynamic environments with visibility constraints'. Together they form a unique fingerprint.

  • Cite this

    Al-Bluwi, I., & Elnagar, A. (2010). Pursuit evasion in dynamic environments with visibility constraints. In Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings (PART 2 ed., pp. 116-129). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 6425 LNAI, No. PART 2). https://doi.org/10.1007/978-3-642-16587-0_12