Title :
Control of a mobile agent using only bearing measurements in triangular region
Author :
Minh Hoang Trinh ; Kwang-Kyo Oh ; Hyo-Sung Ahn
Author_Institution :
Gwangju Inst. of Sci. & Technol., Gwangju, South Korea
Abstract :
We introduce a new control strategy to navigate in the plane for an autonomous agent (mobile robot, unmanned vehicle, etc). The strategy uses only bearing measurements from the three noncolinear stationary beacons. Under some assumptions, this strategy is proved to drive the agent to all desired positions inside the triangle region formed by the beacons. An application and simulation results are also given.
Keywords :
Lyapunov methods; mathematical analysis; mobile robots; path planning; position control; Lyapunov theory; bearing measurement; mathematical analysis; mobile agent navigation; noncolinear stationary beacon; relative position localization; triangular region; Equations; Mobile agents; Mobile robots; Navigation; Sensors; Simulation; Vectors; bearing-only; bearings measurement; formation control;
Conference_Titel :
Computational Intelligence for Security and Defense Applications (CISDA), 2014 Seventh IEEE Symposium on
Conference_Location :
Hanoi
DOI :
10.1109/CISDA.2014.7035640
