TY - GEN
T1 - Target localization and circumnavigation by a non-holonomic robot
AU - Deghat, Mohammad
AU - Davis, Edwin
AU - See, Tianlong
AU - Shames, Iman
AU - Anderson, Brian D.O.
AU - Yu, Changbin
PY - 2012
Y1 - 2012
N2 - This paper addresses a surveillance problem in which the goal is to achieve a circular motion around a target by a non-holonomic agent. The agent only knows its own position with respect to its initial frame, and the bearing angle of the target in that frame. It is assumed that the position of the target is unknown. An estimator and a controller are proposed to estimate the position of the target and make the agent move on a circular trajectory with a desired radius around it. The performance of the proposed algorithm is verified both through simulations and experiments. Robustness is also established in the face of noise and target motion.
AB - This paper addresses a surveillance problem in which the goal is to achieve a circular motion around a target by a non-holonomic agent. The agent only knows its own position with respect to its initial frame, and the bearing angle of the target in that frame. It is assumed that the position of the target is unknown. An estimator and a controller are proposed to estimate the position of the target and make the agent move on a circular trajectory with a desired radius around it. The performance of the proposed algorithm is verified both through simulations and experiments. Robustness is also established in the face of noise and target motion.
UR - http://www.scopus.com/inward/record.url?scp=84872357124&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6386250
DO - 10.1109/IROS.2012.6386250
M3 - Conference contribution
SN - 978-1-4673-1737-5
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1227
EP - 1232
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - IEEE Robotics and Automation Society
CY - Vilamoura-Algarve, Portugal
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -