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Range-Only-Based Three-Dimensional Circumnavigation of Multiple Moving Targets by a Nonholonomic Mobile Robot.

Authors :
Matveev, Alexey S.
Semakova, Anna A.
Source :
IEEE Transactions on Automatic Control; Jul2018, Vol. 63 Issue 7, p2032-2045, 14p
Publication Year :
2018

Abstract

A nonholonomic constant speed underactuated robot with a bounded control range travels in three dimensions. A group of targets unpredictably moves in all three dimensions. The robot measures only the distances to the targets and also has access to a certain spatial direction and its own coordinate (termed “altitude”) along it. We present a new navigation law that drives the robot to the locus of points at a prespecified root-mean-square distance from the targets and ensures dense sweep coverage of this locus within a given range of “altitudes.” This law is rigorously justified by a nonlocal convergence result supported by recommendations on controller tuning; its applicability and performance are confirmed by extensive computer simulations. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
00189286
Volume :
63
Issue :
7
Database :
Complementary Index
Journal :
IEEE Transactions on Automatic Control
Publication Type :
Periodical
Accession number :
130351542
Full Text :
https://doi.org/10.1109/TAC.2017.2758843