Target Capture and Station Keeping of Fixed Speed Vehicles without Self-Location Information
KAUST DepartmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Electrical Engineering Program
Online Publication Date2018-06-30
Print Publication Date2018-09
Permanent link to this recordhttp://hdl.handle.net/10754/630448
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AbstractTarget capture and station keeping problems for an autonomous vehicle agent have been studied in the literature for the cases where the position of the agent can be measured. Station keeping refers to moving the agent to a target whose distances are predefined from a set of beacons that can be stations or other agents. Here we study the target capture and station keeping problems for a nonholonomic vehicle agent that does not know its location and can measure only distances to the target (to the beacons for station keeping). This sensing limitation corresponds to consideration of unavailability of GPS and odometry in practical UAV settings. For each of the target capture and station keeping problems, we propose a control algorithm that uses only agent-target (agent-beacon for station keeping) range and range rate information. We show the stability and convergence properties of our control algorithms. We verified the performance of our control algorithms by simulations and real time experiments on a ground robot. Our algorithms captured the target in finite time in the experiments. Therefore, our algorithms are efficient in scenarios where GPS is unavailable or target identification by vision algorithms is unreliable but continuous agent-target range measurements are available.
CitationGüler S, Fidan B (2018) Target capture and station keeping of fixed speed vehicles without self-location information. European Journal of Control 43: 1–11. Available: http://dx.doi.org/10.1016/j.ejcon.2018.06.003.
SponsorsThis work is supported by the Canadian NSERC Discovery Grant 116806. The research reported in this publication was supported in part by funding from King Abdullah University of Science and Technology (KAUST). The experiments were performed at the Robotics, Intelligent Systems, and Control (RISC) Laboratory, KAUST.
JournalEuropean Journal of Control