狭い物体間ギャップを通る群物体のタイト周回のためのロボットナビゲーションアルゴリズムの基礎となる幾何学的事実
Geometric Facts Underlying Algorithms of Robot Navigation for Tight Circumnavigation of Group Objects through Singular Inter-Object Gaps
低い旋回半径限界を持つ非ホロノミックロボットが未知の複数物体を周回する際、等距離曲線の追従が困難な場合に、追従可能な最良の近似曲線を自動的に見つけて繰り返し追従するための幾何学的事実を提示した。
著者: Valerii Chernov, Alexey Matveev
分類: cs.RO, math.OC
原文アブストラクト
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with maintaining a given distance to the currently nearest of them. So the ideal targeted path is the equidistant curve of the entire set of objects. The focus is on the case where this curve cannot be perfectly traced due to excessive contortions and singularities. So the objective shapes into that of automatically finding, approaching and repeatedly tracing an approximation of the equidistant curve that is the best among those trackable by the robot. The paper presents some geometric facts that are in demand in research on reactive tight circumnavigation of group objects in the delineated situation.