Shortest paths for non-holonomic vehicles with limited field of view camera
Paolo Salaris, Daniele Fontanelli, Lucia Pallottino, Antonio Bicchi · 2009
This paper presents a complete characterization of shortest paths for unicycle-like nonholonomic mobile robots equipped with a limited field-of-view (FOV) pinhole camera rigidly fixed. We provide an alphabet of optimal control words and then we show how to obtain the shortest path, from any point of vehicle plane, that maintains a fixed point in the camera FOV.