Optimal Synthesis for Nonholonomic Vehicles With Constrained Side Sensors

TL;DR

This paper characterizes the shortest paths for nonholonomic vehicles with limited side sensors to reach a goal while keeping a landmark in sight, generalizing previous work to arbitrary FOVs including asymmetric and non-containments.

Contribution

It extends the optimal path synthesis to arbitrary FOVs for nonholonomic vehicles, including asymmetric and non-symmetric sensor configurations.

Findings

Provides a complete characterization of shortest paths for arbitrary FOVs.

Generalizes previous symmetric FOV results to asymmetric and non-containments.

Applicable to underwater sonar-based surveying and navigation.

Abstract

We present a complete characterization of shortest paths to a goal position for a vehicle with unicycle kinematics and a limited range sensor, constantly keeping a given landmark in sight. Previous work on this subject studied the optimal paths in case of a frontal, symmetrically limited Field--Of--View (FOV). In this paper we provide a generalization to the case of arbitrary FOVs, including the case that the direction of motion is not an axis of symmetry for the FOV, and even that it is not contained in the FOV. The provided solution is of particular relevance to applications using side-scanning, such as e.g. in underwater sonar-based surveying and navigation.