Target Encirclement with any Smooth Pattern Using Range-only Measurements
Systems and Control
2020-03-31 v1 Systems and Control
Abstract
This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position by only using range 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 convergence under a fixed set of control parameters, which are independent of the initial distance to the target. The effectiveness and advantages of the proposed controller are validated via simulations.
Keywords
Cite
@article{arxiv.1906.07416,
title = {Target Encirclement with any Smooth Pattern Using Range-only Measurements},
author = {Fei Dong and Keyou You and Shiji Song},
journal= {arXiv preprint arXiv:1906.07416},
year = {2020}
}