Target encirclement with any smooth pattern using range-based measurements

• Autores: Fei Dong, Keyou You, Shiji Song
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 116, 2020
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position only using range-based measurements. Different from the existing works, a backstepping based controller is proposed to encircle the target with zero steady-state error for any desired smooth pattern. Moreover, we show its asymptotic exponential stability under a fixed set of parameters for the controller. The effectiveness and advantages of the proposed controller are validated via simulations.