DocumentCode
2241152
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
fYear
2008
fDate
9-11 Dec. 2008
Firstpage
1747
Lastpage
1752
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location
Cancun
ISSN
0191-2216
Print_ISBN
978-1-4244-3123-6
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2008.4738818
Filename
4738818
Link To Document