Computing optimal trajectories for a tethered pursuer
Aurelio Barrera-Vicent, Jos\'e Miguel D\'iaz-B\'a\~nez, Fabio Rodr\'iguez, Vanesa S\'anchez-Canales
TL;DR
This paper presents an optimal trajectory planning algorithm for a tethered ground robot pursuing a drone, modeled as a pursuit-evasion game, with solutions to related geometric optimization problems.
Contribution
It introduces a novel geometric modeling approach and an optimal algorithm for minimum-link pursuit paths in a tethered robot system.
Findings
Developed an optimal algorithm for minimum-link pursuit paths
Solved three related geometric optimization problems
Demonstrated the approach's effectiveness in pursuit scenarios
Abstract
In this paper, we introduce a trajectory planning problem for a marsupial robotics system consisting of a ground robot, a drone, and a taut tether of bounded length connecting the two robots. This problem can be framed within the context of a pursuit-evasion game. Using a geometric modeling approach, we present an optimal algorithm to compute a minimum-link path for the pursuer (ground robot), given the known path of the evader (drone). Furthermore, we address and solve three related geometric optimization problems, leveraging the intrinsic connections between them.
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