Discrete time position feedback based steering control for autonomous homing of a mobile robot

This paper presents a steering control law based on discrete time position feedback to drive the mobile robot to a predefined home position. The controller relies on controlling the rotation direction of the robot for homing, which works even for an erroneous feedback. The proposed control law steers the robot to an interior of a small circle centred at the home position in the presence of bounded random position measurement errors. Position feedback without the need of accurate measurement and guarantee in autonomous homing in the presence of sensor errors by merely changing the steering direction makes the proposed controller suitable for low-cost robot applications. Theoretical results presented in this paper are verified using Matlab simulations and experiments.