A switched based control strategy for target tracking of autonomous robotic vehicles using range-only measurements

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2011

Autores

Namaki Shoushtari, O (Autor) Outra; Aguiar, AP (Autor) Outra; Sedigh, AK (Autor) Outra

Ata de Conferência Internacional

Título: IFAC Proceedings Volumes (IFAC-PapersOnline)

Páginas: 12819-12824

18th IFAC World Congress

Milano, 28 August 2011 through 2 September 2011

Indexação

ISI Web of Knowledge

Scopus - 3 Citações

Outras Informações

ID Authenticus: P-008-6B4

DOI: 10.3182/20110828-6-it-1002.03015

Abstract (EN): In this paper we address the pursuing or target tracking problem where an autonomous robotic vehicle is required to move towards a maneuvering target using rangeonly measurements. A new switched based control strategy is proposed to solve the pursuing problem that can be described as comprising a continuous cycle of two distinct phases: i) the determination of the bearing, and ii) following the direction computed in the previous step while the range is decreasing. We provide conditions under which the switched closed-loop system achieves convergence of the relative distance error to a small neighborhood around zero. Simulation results are presented and discussed. © 2011 IFAC.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6