Generating patterns with a unicycle having turn rate constraints
Twinkle Tripathy, Arpita Sinha · 2017
The paper considers the problem of generating patterns using autonomous agents with additional constraints on turn rate of the agent. The patterns are generated around a fixed point, referred to as target, by using a single agent which is modelled as a unicycle. The agent generates patterns while traversing with fixed linear speed. The paper analyses the effect of turn rate constraints on the generated patterns. Thereafter, we establish conditions on the patterns (the maximum and minimum radii of the patterns) so that the generated patterns never violate the constraints on turn rate. All the results that are obtained in theory have been justified by simulation.