Circling over a target based on bearing-only measurement
| Autor: | Rui Li, Yingjing Shi, Yimin Bao, Liang He |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Bearing (mechanical) Computer science 020207 software engineering Angular velocity 02 engineering and technology law.invention Computer Science::Robotics 020901 industrial engineering & automation Circular motion law Control theory 0202 electrical engineering electronic engineering information engineering Trajectory Robot Constant (mathematics) |
| Zdroj: | 2018 37th Chinese Control Conference (CCC). |
| Popis: | This paper considers the problem of guiding a single robot to achieve a circular motion around a target with only bearing information. We propose control schemes dealing with two situations where the robot is with constant forward speed or with constant angular velocity. By using the proposed control schemes, the robot can circle the unknown-position target at a desired radius only with the bearing measurements. Finally, simulations are carried out to verify the effectiveness of the proposed algorithms. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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