Target encirclement with any smooth pattern using range-based measurements

DOI10.1016/J.AUTOMATICA.2020.108932MaRDI QIDQ1987280zbMATH OpenOpenAlexFDO

Authors Fei Dong, Keyou You, Shiji Song

Publication date 14 April 2020

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1906.07416

zbMATH Keywords

backstepping controlcircumnavigationrange-based measurementstarget encirclement

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Exponential stability (93D23)

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.

Recommendations

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Cites work

• A Stochastic Approach to Dubins Vehicle Tracking Problems
• Circumnavigation Using Distance Measurements Under Slow Drift
• Coordinate frame free dubins vehicle circumnavigation using only range-based measurements
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• Localization and Circumnavigation of a Slowly Moving Target Using Bearing Measurements
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• Tight circumnavigation of multiple moving targets based on a new method of tracking environmental boundaries
• Tracking control of mobile robots: A case study in backstepping
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Cited in

(17)

• The isoline tracking in unknown scalar fields with concentration feedback
• Entrapping a target in an arbitrarily shaped orbit by a single robot using bearing measurements
• Enclosing a target by nonholonomic mobile robots with bearing-only measurements
• Target encirclement of moving ride-hailing vehicle under uncertain environment: a multi-vehicle mutual rescue model
• Target localization and circumnavigation using distance measurements in 2D
• Coordinate frame free dubins vehicle circumnavigation using only range-based measurements
• Schrödinger equation with noise on the boundary
• Target tracking of autonomous robotic vehicles using range-only measurements: a switched logic-based control strategy
• Range-only measurements based target following for wheeled mobile robots
• Target circumnavigation of mobile robots using range-only measurements
• Distributed control of target cooperative encirclement and tracking using range-based measurements
• Leader-follower circumnavigation control of non-holonomic robots using distance-related information
• Achieving safe minimum circle circumnavigation around multiple targets: a dynamic compensation approach
• Singleton-free fencing control of unknown maneuver target
• Event-triggered cooperative control for moving target encirclement and tracking with time-varying pattern by UAV formation
• Aerial target encirclement and interception with noisy range observations
• Emergent homeomorphic curves in swarms

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