Line of sight robot navigation toward a moving goal

Fethi Belkhouche, Boumediene Belkhouche, Parviz Rastgoufard

Research output: Contribution to journalArticlepeer-review

41 Scopus citations

Abstract

In this paper, we consider the problem of robot tracking and navigation toward a moving goal. The goal's maneuvers are not a priori known to the robot. Thus, off-line strategies are not effective. To model the robot and the goal, we use geometric rules combined with kinematics equations expressed in a polar representation. The intent of the strategy is to keep the robot between a reference point, called the observer, and the goal. We prove under certain assumptions that the robot navigating using this strategy reaches the moving goal successfully. In the presence of obstacles, the method is combined with an obstacle avoidance algorithm. The robot then moves in two modes, the navigation mode and the obstacle avoidance mode. Simulation of various scenarios highlights the efficiency of the method and provides an instructive comparison between the paths obtained for different reference points.

Original languageEnglish (US)
Pages (from-to)255-267
Number of pages13
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume36
Issue number2
DOIs
StatePublished - Apr 2006

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Line of sight robot navigation toward a moving goal'. Together they form a unique fingerprint.

Cite this