Equiangular navigation and guidance of a wheeled mobile robot based on range-only measurements

被引：54
|
作者：
Teimoori, Hamid [1 ]
Savkin, Andrey V. [1 ]
机构：
[1] Univ New S Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2010年 / 58卷 / 02期
基金：
澳大利亚研究理事会;
关键词：
Wheeled robots; Guidance; Navigation; Range-only measurements; LOCALIZATION; TRACKING; TARGET;
D O I：
10.1016/j.robot.2009.09.004
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. (C) 2009 Elsevier B.V. All rights reserved.
引用
收藏
页码：203 / 215
页数：13
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