TY - GEN
T1 - Pursuit evasion in dynamic environments with visibility constraints
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 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 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.
UR - http://www.scopus.com/inward/record.url?scp=78650448464&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78650448464&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-16587-0_12
DO - 10.1007/978-3-642-16587-0_12
M3 - Conference contribution
AN - SCOPUS:78650448464
SN - 3642165869
SN - 9783642165863
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 116
EP - 129
BT - Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
T2 - 3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010
Y2 - 10 November 2010 through 12 November 2010
ER -