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arXiv · 1906.07416

Target Encirclement with any Smooth Pattern Using Range-only Measurements

Fei Dong·Keyou You·Shiji Song
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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.

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Fei Dong, Keyou You, Shiji Song. 2019-06-18. Target Encirclement with any Smooth Pattern Using Range-only Measurements. https://doi.org/10.1016/j.automatica.2020.108932

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