DocumentCode
263336
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
fYear
2014
fDate
14-17 Dec. 2014
Firstpage
1
Lastpage
5
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Intelligence for Security and Defense Applications (CISDA), 2014 Seventh IEEE Symposium on
Conference_Location
Hanoi
Type
conf
DOI
10.1109/CISDA.2014.7035640
Filename
7035640
Link To Document