Rendezvous of wheeled mobile robots using bearings-only or range-only measurements

被引：0
|
作者：
Zheng, Ronghao [1 ]
Sun, Dong [1 ]
机构：
[1] City Univ Hong Kong, Dept Mech & Biomed Engn, Kowloon, Hong Kong, Peoples R China
来源：
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2013年
关键词：
TARGET TRACKING;
D O I：
暂无
中图分类号：
Q [生物科学];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N - robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems.
引用
收藏
页码：256 / 261
页数：6
相关论文
共 50 条
  • [41] Bearings-Only Tracking using Derived Heading
    Panakkal, Viji Paul
    Velmurugan, Rajbabu
    2010 IEEE AEROSPACE CONFERENCE PROCEEDINGS, 2010,
  • [42] Bearings-only tracking in the plane
    Maybank, SJ
    SIAM JOURNAL ON APPLIED MATHEMATICS, 1998, 58 (03) : 975 - 998
  • [43] Range-parameterised orthogonal simplex cubature Kalman filter for bearings-only measurements
    Wu, Hao
    Chen, Shuxin
    Yang, Binfeng
    Luo, Xi
    IET SCIENCE MEASUREMENT & TECHNOLOGY, 2016, 10 (04) : 370 - 374
  • [44] The Problem of Target Following Based on Range-only Measurements For Car-like Robots
    Matveev, Alexey S.
    Teimoori, Hamid
    Savkin, Andrey V.
    PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 8537 - 8542
  • [45] One-step rendezvous guidance for improving observability in bearings-only navigation
    Mok, Sung-Hoon
    Pi, Jaehwan
    Bang, Hyochoong
    ADVANCES IN SPACE RESEARCH, 2020, 66 (11) : 2689 - 2702
  • [46] On MAP-Based Target Tracking Using Range-Only Measurements
    Wang, Gang
    Li, Youming
    Jin, Ming
    2013 8TH INTERNATIONAL ICST CONFERENCE ON COMMUNICATIONS AND NETWORKING IN CHINA (CHINACOM), 2013, : 718 - 723
  • [47] Kalman filtering using bearings-only measurements from a network of acoustic arrays
    Le, Q
    Kaplan, LM
    McClellan, JH
    PROCEEDINGS OF THE 2002 IEEE 10TH DIGITAL SIGNAL PROCESSING WORKSHOP & 2ND SIGNAL PROCESSING EDUCATION WORKSHOP, 2002, : 317 - 321
  • [48] Effect of course maneuvers on bearings-only range estimation.
    Fawcett, John A.
    IEEE Transactions on Acoustics, Speech, and Signal Processing, 1988, 36 (08): : 1193 - 1199
  • [49] On exploiting propagation delays for passive target localization using bearings-only measurements
    Kaplan, LM
    Le, Q
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2005, 342 (02): : 193 - 211
  • [50] Leader-Follower Localization and Mapping using Range-Only Measurements
    Miah, Md Suruz
    IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2018, : 2570 - 2575
12345