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Equiangular navigation and guidance of a wheeled mobile robot based on range-only measurements
Authors:Hamid Teimoori  Andrey V Savkin
Affiliation:1. Department of Mechanical and Biomedical Engineering, City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong, China;2. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China;1. Department of Mechanical and Biomedical Engineering, City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong, China;2. State Key Laboratory of Industrial Control Technology, College of Electrical Engineering, Zhejiang University, 38 Zheda Road, 310027 Hangzhou, PR China;3. School of Electrical Engineering and Computer Science, University of Newcastle, Callaghan, NSW 2308, Australia;4. Department of Control Science and Engineering, Zhejiang University, 388 Yuhangtang Road, 310058 Hangzhou, PR China;1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, PR China;2. Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education, Chongqing University, Chongqing 400044, PR China;3. School of Automation, Chongqing University, Chongqing 400044, PR China
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 analysis of the proposed guidance laws. The performance is confirmed with computer simulations and experiments with ActivMedia Pioneer 3-DX wheeled robots.
Keywords:
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