Tracking an omnidirectional evader with a differential drive robot |
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| Authors: | Rafael Murrieta-Cid Ubaldo Ruiz Jose Luis Marroquin Jean-Paul Laumond Seth Hutchinson |
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| Affiliation: | (1) University of Southern California, 3710 S. McClintock Avenue, Ronald Tutor Hall (RTH) 418, Los Angeles, CA 90089, USA;(2) University of Southern California, MC 2905, Ronald Tutor Hall (RTH412), 3710 S. McClintock Ave, Los Angeles, CA 90089-2905, USA;(3) University of Southern California, MC 2905, Ronald Tutor Hall (RTH 405), 3710 South McClintock Avenue, Los Angeles, CA 90089-2905, USA |
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| Abstract: | In this paper we consider the surveillance problem of tracking a moving evader by a nonholonomic mobile pursuer. We deal specifically
with the situation in which the only constraint on the evader’s velocity is a bound on speed (i.e., the evader is able to
move omnidirectionally), and the pursuer is a nonholonomic, differential drive system having bounded speed. |
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