Path planning with Incremental Roadmap Update for Visibility-based Target Tracking
Path planning with Incremental Roadmap Update for Visibility-based Target Tracking
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DOI：
10.1109/iros40897.2019.8967602
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发表时间：
2019-11
期刊：
影响因子：
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通讯作者：
Guillermo J. Laguna;S. Bhattacharya
中科院分区：
文献类型：
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作者：
Guillermo J. Laguna;S. Bhattacharya
在本文中，我们解决了基于可见性的目标跟踪问题，其中移动观察者沿着 p 路线（我们将其定义为目标跟踪的固定路径）移动，试图将移动目标保持在其视野中。通过与看守人的路线问题建立联系，我们找到了 p 路线必须满足的一组条件。然后，我们提出了一种跟踪度量，以在给定环境几何形状的情况下估计观察者的足够速度。我们表明，寻找观察者需要最小速度的 p 路径的问题在计算上是难以解决的。我们提出了一种找到一条 p 路线的技术，在该路线上观察者最多需要两倍的最小速度来跟踪入侵者，并为观察者提供了一种反应运动策略。
In this paper, we address the visibility-based target tracking problem in which a mobile observer moving along a p-route, which we define as a fixed path for target tracking, tries to keep a mobile target in its field-of-view. By drawing a connection to the watchman’s route problem, we find a set of conditions that must be satisfied by the p-route. Then we propose a metric for tracking to estimate a sufficient speed for the observer given the geometry of the environment. We show that the problem of finding the p-route on which the observer requires minimum speed is computationally intractable. We present a technique to find a p-route on which the observer needs at most twice the minimum speed to track the intruder and a reactive motion strategy for the observer.