Title :
Equiangular navigation and guidance of a wheeled mobile robot using range-only measurements
Author :
Teimoori, Hamid ; Savkin, Andrey V.
Author_Institution :
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
Abstract :
We consider the problems of a wheeled mobile robot navigation and guidance towards an unknown stationary or maneuvering target using range-only measurements. We propose and study several methods for navigation and guidance termed equiangular navigation guidance (ENG) laws. We give mathematically rigorous proofs of convergence and stability of the proposed guidance laws. The performance is confirmed with computer simulations and experiments with ActivMedia Pioneer 3-DX wheeled robots.
Keywords :
mobile robots; path planning; stability; equiangular navigation guidance; maneuvering target; range-only measurements; wheeled mobile robot; Computer simulation; Costs; Global Positioning System; Kinematics; Mobile robots; Orbital robotics; Radio navigation; Target tracking; Videos; Virtual reality;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4738818
