Title :
Range-measurement-based localization and circumnavigation of multiple irregularly moving unknown targets
Author :
Matveev, Alexey ; Semakova, Anna ; Savkin, Andrey
Author_Institution :
Department of Mathematics and Mechanics, Saint Petersburg University 28, Universitetsky pr., Petrodvoretz, St. Petersburg, 198504, Russia
fDate :
May 31 2015-June 3 2015
Abstract :
A planar Dubins-car like robot is controlled by upper limited angular velocity. There is a team of irregularly moving targets in the plane. The robot measures only the relative distances to the targets and cannot distinguish among them. A sliding mode control law is proposed that drives the root mean squared distance to a target to a pre-specified value; the mean is taken over all targets. This law is justified by a non-local convergence result: it is proved that the law ensures perfectly circumnavigating the targets at exactly the required mean distance. The convergence and performance of the control law are confirmed by computer simulations.
Keywords :
Convergence; Navigation; Robot kinematics; Robot sensing systems; Root mean square;
Conference_Titel :
Control Conference (ASCC), 2015 10th Asian
Conference_Location :
Kota Kinabalu, Malaysia
DOI :
10.1109/ASCC.2015.7244426