title: Line of sight robot navigation toward a moving goal.
abstract: In this paper, we consider the problem of robot tracking and navigation toward a moving goal. The goal's maneuvers are not a priori known to the robot. Thus, off-line strategies are not effective. To model the robot and the goal, we use geometric rules combined with kinematics equations expressed in a polar representation. The intent of the strategy is to keep the robot between a reference point, called the observer, and the goal. We prove under certain assumptions that the robot navigating using this strategy reaches the moving goal successfully. In the presence of obstacles, the method is combined with an obstacle avoidance algorithm. The robot then moves in two modes, the navigation mode and the obstacle avoidance mode. Simulation of various scenarios highlights the efficiency of the method and provides an instructive comparison between the paths obtained for different reference points.
authors.affiliation: Electrical Engineering and Computer Science Department, Tulane University, New Orleans, LA 70118, USA. belkhouf@eecs.tulane.edu
authors.forename: Fethi
authors.initials: F
authors.lastname: Belkhouche
authors.forename: Boumediene
authors.initials: B
authors.lastname: Belkhouche
authors.forename: Parviz
authors.initials: P
authors.lastname: Rastgoufard
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D003661:Decision Support Techniques; D017143:Fuzzy Logic; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D009038:Motion; D010363:Pattern Recognition, Automated / Q000379:methods*; D012371:Robotics / Q000379:methods*