Roadmap for Visibility-based Target Tracking: Iterative Construction and Motion Strategy

Roadmap for Visibility-based Target Tracking: Iterative Construction and Motion Strategy
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DOI：
10.1109/iros51168.2021.9636581
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发表时间：
2021-09
期刊：
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
影响因子：
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通讯作者：
Guillermo J. Laguna;Shashwata Mandal;S. Bhattacharya
Guillermo J. Laguna;Shashwata Mandal;S. Bhattacharya
中科院分区：
其他
文献类型：
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作者：
Guillermo J. Laguna;Shashwata Mandal;S. Bhattacharya

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我们考虑的问题，产生一个固定的路径的移动的观察员在多边形环境中，可以保持视线与不可预测的目标。与纯离线或在线技术相比，我们提出了一种分层跟踪策略，其中基于RRT的离线路径生成技术与在线反馈控制技术相结合，以生成移动的观测器的轨迹。
We consider the problem of generating a fixed path for a mobile observer in a polygonal environment that can maintain a line-of-sight with an unpredictable target. In contrast to purely off-line or on-line techniques, we propose a hierarchical tracking strategy in which an off-line path generation technique based on a RRT is coupled with an online feedback-control technique to generate trajectories for the mobile observer.