Title :
A control strategy for tracking-interception of moving objects using wheeled mobile robots
Author :
Belkhouche, F. ; Belkhouche, B.
Author_Institution :
Dept. of EECS, Tulane Univ., New Orleans, LA, USA
Abstract :
In this paper we present a control strategy for tracking-interception of moving objects using wheeled mobile robots. This method makes use of geometric rules combined with the kinematics equations. The objective of the control strategy is to put the robot in a rendezvous course with the target. This is accomplished by keeping the robot in the line joining the target and a reference point. The control algorithm is illustrated using simulation, where two examples are considered.
Keywords :
control system analysis; geometry; robot kinematics; tracking; control strategy; geometric rules; kinematics equations; moving objects; tracking interception; wheeled mobile robots; Application software; Computational geometry; Equations; Humans; Military computing; Mobile robots; Robot kinematics; Robot sensing systems; Surveillance; Target tracking;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1430363
