Multi-observer three-point tracking law with networked observers

Fethi Belkhouche, Fuming Wu, Runchang Lin, Tongdan Jin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

In this paper we suggest a three-point path planning law with multiple observers for wheeled mobile robot navigation to intercept/track a moving goal. Each observer acts like a control station that controls the robot to reach an arbitrary moving goal. The observer's task is to gather information concerning the moving goal, and send the real time command control to the robot. Thus, observers have sensing, communication and processing capabilities. For robotic path planning and navigation towards a moving goal, the control strategy is based on the visibility line guidance law, where the robot lies always in the line that connects a virtual observer and the target. Under this formulation, the visibility angles rates of the robot and the target are equal. Our method is illustrated using various simulation examples.

Original languageEnglish (US)
Title of host publicationInternational Conference on Automation, Robotics and Control Systems 2008, ARCS 2008
Pages110-115
Number of pages6
StatePublished - 2008
Event2008 International Conference on Automation, Robotics and Control Systems, ARCS 2008 - Orlando, FL, United States
Duration: Jul 7 2008Jul 10 2008

Publication series

NameInternational Conference on Automation, Robotics and Control Systems 2008, ARCS 2008

Conference

Conference2008 International Conference on Automation, Robotics and Control Systems, ARCS 2008
CountryUnited States
CityOrlando, FL
Period7/7/087/10/08

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

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