Visibility-based pursuit-evasion: the case of curved environments

Author

LaValle, Steven M. ; Hinrichsen, John E.

Author_Institution

Dept. of Comput. Sci., Iowa State Univ., Ames, IA, USA

Volume

17

Issue

2

fYear

2001

fDate

4/1/2001 12:00:00 AM

Firstpage

196

Lastpage

202

Abstract

We consider the problem of visually searching for an unpredictable target that can move arbitrarily fast in a simply-connected two-dimensional curved environment. A complete algorithm is presented and is based on critical visibility events that occur because of inflections and bitangents on the environment boundary. By generalizing the notion of inflections and bitangents to polygonal and piecewise-smooth environments, the approach is considered as a step toward developing pursuit-evasion strategies that have little dependency on the representation of the environment

Keywords

computational geometry; mobile robots; path planning; robot vision; bitangents; critical visibility events; curved environments; inflections; piecewise-smooth environments; polygonal environments; simply-connected 2D curved environment; visibility-based pursuit-evasion; visual searching; Application software; Computational geometry; Computer aided software engineering; Humanoid robots; Law enforcement; Mobile computing; Mobile robots; Motion planning; Robot sensing systems; Robotics and automation;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.928565

Filename

928565