TY - GEN
T1 - Multi-observer three-point tracking law with networked observers
AU - Belkhouche, Fethi
AU - Wu, Fuming
AU - Lin, Runchang
AU - Jin, Tongdan
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:84878143942
SN - 9781615677146
T3 - International Conference on Automation, Robotics and Control Systems 2008, ARCS 2008
SP - 110
EP - 115
BT - International Conference on Automation, Robotics and Control Systems 2008, ARCS 2008
T2 - 2008 International Conference on Automation, Robotics and Control Systems, ARCS 2008
Y2 - 7 July 2008 through 10 July 2008
ER -