Target localization and circumnavigation by a non-holonomic robot

Deghat, Mohammad; Davis, Edwin; See, TianLong; Shames, Iman; Anderson, Brian D. O.; Yu, Changbin

doi:10.1109/iros.2012.6386250

Cited by 41 publications

(30 citation statements)

References 8 publications

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“…For some kinds of mobile vehicles, such as those considered in Deghat et al (2012) and Matveev, Hoy, and Savkin (2013), the forward speed v is fixed and requires v ≥ v min > 0. This requirement motivates us to propose the following control law:…”

Section: Controller 2: Single Robot With Fixed Forward Speed Enclosinmentioning

confidence: 99%

“…Some works on single robot target enclosing using bearing measurements have been reported. For example, a circumnavigation strategy was proposed for holonomic robot in Deghat, Shames, Anderson, and Yu (2010) and was extended to nonholonomic robot in Deghat et al (2012). In Deghat et al (2012) and Deghat et al (2010), a nonlinear periodically time-varying algorithm was used to estimate the position of the target.…”

mentioning

confidence: 99%

“…First, we develop novel control schemes for nonholonomic mobile robots to enclose a target with relative bearing measurements only. Unlike Deghat et al (2012Deghat et al ( , 2010, we assume that global position information is not available and the robots are memoryless so they cannot know their own positions in any inertial coordinate frame. Unlike Guo et al (2011), we assume that there is no inter-agent communication so that the robots cannot share their bearing measurements amongst each other.…”

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confidence: 99%

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Enclosing a target by nonholonomic mobile robots with bearing-only measurements

2015

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Section: Controller 2: Single Robot With Fixed Forward Speed Enclosinmentioning

confidence: 99%

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confidence: 99%

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Enclosing a target by nonholonomic mobile robots with bearing-only measurements

2015

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“…The final step of the proof is to show that is bounded. Define and as (15) Then using (1), (2) and the control law (6), the derivative of can be written as (16) and its solution is (17) Consider now a triangle with vertices at , and . Then by the triangle inequality, one has (18) By direct calculation, observe that the matrix is symmetric and its eigenvalues are 0 and .…”

Section: A Agent With Variable Speedmentioning

confidence: 99%

“…In some applications, however, it is preferred to employ localization and circumnavigation algorithms that require less knowledge about the target and less computational effort so that the proposed algorithm can be used to control a UAV with limited payload capacity. There has been some research that studies such localization and circumnavigation problems using distance-only measurements [12]- [14], bearing-only measurements (the groundwork of this technical note) [15], [16] and received signal strength (RSS) measurement [17]. In the scenarios where the agent has to maintain radio silence for fear that its position will be detected, it is usually preferred not to use distance measurements.…”

Section: Introductionmentioning

confidence: 99%

Localization and Circumnavigation of a Slowly Moving Target Using Bearing Measurements

Deghat

Shames

Anderson

et al. 2014

IEEE Trans. Automat. Contr.

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The problem of localization and circumnavigation of a slowly moving target with unknown speed has been considered. The agent only knows its own position with respect to its initial frame, and the bearing angle to the target in that frame. We propose an estimator to localize the target and a control law that forces the agent to move on a circular trajectory around the target such that both the estimator and the control system are exponentially stable. We consider two different cases where the agent's speed is constant and variable. The performance of the proposed algorithm is verified through simulations.

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Multi-target localization and circumnavigation by a single agent using bearing measurements

Deghat

Xia

Anderson

et al. 2014

Int. J. Robust Nonlinear Control

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This paper considers the problem of localization and circumnavigation of a group of targets, which are either stationary or moving slowly with unknown speed, by a single agent. An estimator is proposed, initially for the stationary target case, to localize the targets and the center of mass of them as well as a control law that forces the agent to move on a circular trajectory around the center of mass of the targets such that both the estimator and the controller are exponentially stable. Then the case where the targets might experience slow but possibly steady movements is studied. The system inputs include the agent's position and the bearing angles to the targets. The performance of the proposed algorithms is verified through simulations. Copyright been studied when the agent(s) can measure the relative position of the target, that is, its range and bearing. In some applications, however, it is preferred to employ localization and circumnavigation algorithms that require less sensed knowledge about the target so that the proposed algorithm can be used to control a UAV with limited payload capacity (and thus limited sensing capability). There have been some research efforts to study such localization and circumnavigation problems using distance-only measurements [13][14][15], bearing-only measurements [16,17], and received signal strength (RSS) measurement [18]. In the scenarios where the agent has to maintain radio silence for the fear that its position will be detected, it is usually preferred not to use distance measurements. This is because of the fact that distance measurement techniques are usually active methods in which the agent must transmit signals. In contrast, RSS measurement techniques and usually bearing measurement techniques are passive methods. RSS-based localization techniques measure the strength of the received signal and use a log-normal radio propagation model to estimate the distance to the target. The path loss exponent is a key parameter in the log-normal model, which depends on the environment in which the sensor is deployed. The problem with this method is that an accurate knowledge of the path loss exponent is required in order to convert signal strength measurements to range, and it can be difficult to obtain [19].The problem of bearings-only target localization has been studied in the literature using statistical estimators such as extended Kalman filter (EKF) and unscented Kalman filter [20,21]. It is assumed in such estimators that the agent knows the system model as well as the noise model. Although these estimators work well when the agent knows the motion characteristics of the target, they cannot be used when the target can move freely while the agent is not aware of the target motion. Many of the current results in the literature assumed that the target is either stationary or moving with a known constant velocity. We however consider the scenario that the target is allowed to move on any directions and the agent does not know the motion characteristics of the target.In th...

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Target localization and circumnavigation by a non-holonomic robot

Cited by 41 publications

References 8 publications

Enclosing a target by nonholonomic mobile robots with bearing-only measurements

Enclosing a target by nonholonomic mobile robots with bearing-only measurements

Localization and Circumnavigation of a Slowly Moving Target Using Bearing Measurements

Multi-target localization and circumnavigation by a single agent using bearing measurements

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