The problem of target following based on range-only measurements for car-like robots

In this paper, we consider the problem of navigation and guidance of a Dubins-like wheeled robot towards a steady or maneuvering target with range-only information. We propose a range-based sliding mode controller through which the robot follows a target with a constant speed while preserving a predefined range margin from the target. Mathematically rigorous proof of convergence and stability of the proposed guidance law is presented. Simulation results confirm the applicability and performance of the proposed guidance approach.