Circumnavigation by a mobile robot using bearing measurements

Ronghao Zheng; Dong Sun

doi:10.1109/IROS.2014.6943221

Circumnavigation by a mobile robot using bearing measurements

Ronghao Zheng, Dong Sun

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

10 Citations (Scopus)

Abstract

This paper investigates the problem of steering a nonholonomic mobile robot to achieve a circular motion around a target. We propose control schemes that require only bearing measurements and deal with two types of targets: point target and disk target. Circumnavigation schemes are developed to achieve efficient encirclement of the target. We show that using the proposed control schemes, the robot can circle the target from a prescribed radius without distance measurement and avoid collision with disk target as well. The validity of the proposed control schemes is supported by experiments on an e-puck robot.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	4643-4648
ISBN (Print)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943221
Publication status	Published - 31 Oct 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) - Chicago, United States Duration: 14 Sept 2014 → 18 Sept 2014 http://www.iros2014.org (unknown) http://www.iros2014.org (unknown) http://www.iros2014.org (unknown) http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/ http://www.iros2014.org

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Name
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Place	United States
City	Chicago
Period	14/09/14 → 18/09/14
Internet address	http://www.iros2014.org (unknown) http://www.iros2014.org (unknown) http://www.iros2014.org (unknown) http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/ http://www.iros2014.org

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title = "Circumnavigation by a mobile robot using bearing measurements",

abstract = "This paper investigates the problem of steering a nonholonomic mobile robot to achieve a circular motion around a target. We propose control schemes that require only bearing measurements and deal with two types of targets: point target and disk target. Circumnavigation schemes are developed to achieve efficient encirclement of the target. We show that using the proposed control schemes, the robot can circle the target from a prescribed radius without distance measurement and avoid collision with disk target as well. The validity of the proposed control schemes is supported by experiments on an e-puck robot.",

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doi = "10.1109/IROS.2014.6943221",

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N2 - This paper investigates the problem of steering a nonholonomic mobile robot to achieve a circular motion around a target. We propose control schemes that require only bearing measurements and deal with two types of targets: point target and disk target. Circumnavigation schemes are developed to achieve efficient encirclement of the target. We show that using the proposed control schemes, the robot can circle the target from a prescribed radius without distance measurement and avoid collision with disk target as well. The validity of the proposed control schemes is supported by experiments on an e-puck robot.

AB - This paper investigates the problem of steering a nonholonomic mobile robot to achieve a circular motion around a target. We propose control schemes that require only bearing measurements and deal with two types of targets: point target and disk target. Circumnavigation schemes are developed to achieve efficient encirclement of the target. We show that using the proposed control schemes, the robot can circle the target from a prescribed radius without distance measurement and avoid collision with disk target as well. The validity of the proposed control schemes is supported by experiments on an e-puck robot.

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DO - 10.1109/IROS.2014.6943221

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781479969340

SP - 4643

EP - 4648

BT - IEEE International Conference on Intelligent Robots and Systems

PB - IEEE

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Y2 - 14 September 2014 through 18 September 2014

ER -

Circumnavigation by a mobile robot using bearing measurements

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