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Target localization and circumnavigation by a non-holonomic robot
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
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2012 (English)In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012, 1227-1232 p.Conference paper (Refereed)
Abstract [en]

This paper addresses a surveillance problem in which the goal is to achieve a circular motion around a target by a non-holonomic agent. The agent only knows its own position with respect to its initial frame, and the bearing angle of the target in that frame. It is assumed that the position of the target is unknown. An estimator and a controller are proposed to estimate the position of the target and make the agent move on a circular trajectory with a desired radius around it. The performance of the proposed algorithm is verified both through simulations and experiments. Robustness is also established in the face of noise and target motion.

Place, publisher, year, edition, pages
2012. 1227-1232 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
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URN: urn:nbn:se:kth:diva-116849DOI: 10.1109/IROS.2012.6386250ScopusID: 2-s2.0-84872357124ISBN: 978-146731737-5OAI: diva2:601261
25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, 7 October 2012 through 12 October 2012, Vilamoura, Algarve

QC 20130129

Available from: 2013-01-29 Created: 2013-01-28 Last updated: 2013-01-29Bibliographically approved

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Shames, Iman
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Automatic ControlACCESS Linnaeus Centre

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