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We present a complete characterization of shortest paths to a goal positionfor a vehicle with unicycle kinematics and a limited range sensor, constantlykeeping a given landmark in sight. Previous work on this subject studied theoptimal 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 forthe FOV, and even that it is not contained in the FOV. The provided solution isof particular relevance to applications using side-scanning, such as e.g. inunderwater sonar-based surveying and navigation.

Optimal Synthesis for Nonholonomic Vehicles With Constrained Side Sensors