Brief paper: Range-only measurements based target following for wheeled mobile robots

Authors:
Alexey S. Matveev;Hamid Teimoori;Andrey V. Savkin
Affiliations:
Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, St.Petersburg, 198504, Russia;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:
Automatica (Journal of IFAC)
Year:
2011

Citing 6
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Abstract

We consider the problem of navigation and guidance of a wheeled mobile robot towards a maneuvering target based on the measurements concerning only the distance from the robot to the target. We propose a sliding mode controller that drives the robot to the predefined distance from the target and makes the robot follow the target at this distance. Mathematically rigorous proof of convergence and stability of the proposed guidance law is presented. Simulation results confirm the applicability and performance of the proposed guidance approach.