Equiangular navigation and guidance of a wheeled mobile robot based on range-only measurements

Authors:
Hamid Teimoori;Andrey V. Savkin
Affiliations:
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia;School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney 2052, Australia
Venue:
Robotics and Autonomous Systems
Year:
2010

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Abstract

We consider the problems of a wheeled mobile robot navigation and guidance towards an unknown stationary or maneuvering target using range-only measurements. We propose and study several methods for navigation and guidance termed Equiangular Navigation Guidance (ENG) laws. We give mathematically rigorous analysis of the proposed guidance laws. The performance is confirmed with computer simulations and experiments with ActivMedia Pioneer 3-DX wheeled robots.