Range-Only-Based Three-Dimensional Circumnavigation of Multiple Moving Targets by a Nonholonomic Mobile Robot

Standard

Range-Only-Based Three-Dimensional Circumnavigation of Multiple Moving Targets by a Nonholonomic Mobile Robot. / Матвеев, Алексей Серафимович ; Семакова, Анна Анатольевна.

In: IEEE Transactions on Automatic Control, Vol. 63, No. 7, 07.2018, p. 2032-2045.

Research output: Contribution to journal › Article › peer-review

BibTeX

@article{47ac0dd4f0ff4bde93a41c81c1b587d3,

title = "Range-Only-Based Three-Dimensional Circumnavigation of Multiple Moving Targets by a Nonholonomic Mobile Robot",

abstract = "A nonholonomic constant speed underactuated robot with a bounded control range travels in three dimensions. A group of targets unpredictably moves in all three dimensions. The robot measures only the distances to the targets and also has access to a certain spatial direction and its own coordinate (termed 'altitude') along it. We present a new navigation law that drives the robot to the locus of points at a prespecified root-mean-square distance from the targets and ensures dense sweep coverage of this locus within a given range of 'altitudes.' This law is rigorously justified by a nonlocal convergence result supported by recommendations on controller tuning; its applicability and performance are confirmed by extensive computer simulations.",

keywords = "Circumnavigation of multiple targets, mobile robots, robot navigation, sensor-based control, three-dimensional (3-D) maneuvers, CYCLIC PURSUIT STRATEGY, LOCALIZATION, MOTION, MULTIVEHICLE SYSTEMS, TRACKING, NAVIGATION, COOPERATIVE CONTROL",

author = "Матвеев, {Алексей Серафимович} and Семакова, {Анна Анатольевна}",

note = "Funding Information: Manuscript received May 31, 2017; revised September 18, 2017; accepted September 20, 2017. Date of publication October 2, 2017; date of current version June 26, 2018. This work was performed in the Saint Petersburg State University and supported by the Russian Science Foundation under Project No. 14-21-00041. Recommended by Associate Editor D. Hristu-Varsakelis. (Corresponding author: Alexey S. Matveev.) The authors are with the Department of Mathematics and Mechanics, Saint Petersburg State University, St. Petersburg 198504, Russia (e-mail: almat1712@yahoo.com; a.semakova@gmail.com).",

year = "2018",

month = jul,

doi = "10.1109/TAC.2017.2758843",

language = "English",

volume = "63",

pages = "2032--2045",

journal = "IEEE Transactions on Automatic Control",

issn = "0018-9286",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "7",

}

RIS

TY - JOUR

T1 - Range-Only-Based Three-Dimensional Circumnavigation of Multiple Moving Targets by a Nonholonomic Mobile Robot

AU - Матвеев, Алексей Серафимович

AU - Семакова, Анна Анатольевна

N1 - Funding Information: Manuscript received May 31, 2017; revised September 18, 2017; accepted September 20, 2017. Date of publication October 2, 2017; date of current version June 26, 2018. This work was performed in the Saint Petersburg State University and supported by the Russian Science Foundation under Project No. 14-21-00041. Recommended by Associate Editor D. Hristu-Varsakelis. (Corresponding author: Alexey S. Matveev.) The authors are with the Department of Mathematics and Mechanics, Saint Petersburg State University, St. Petersburg 198504, Russia (e-mail: almat1712@yahoo.com; a.semakova@gmail.com).

PY - 2018/7

Y1 - 2018/7

N2 - A nonholonomic constant speed underactuated robot with a bounded control range travels in three dimensions. A group of targets unpredictably moves in all three dimensions. The robot measures only the distances to the targets and also has access to a certain spatial direction and its own coordinate (termed 'altitude') along it. We present a new navigation law that drives the robot to the locus of points at a prespecified root-mean-square distance from the targets and ensures dense sweep coverage of this locus within a given range of 'altitudes.' This law is rigorously justified by a nonlocal convergence result supported by recommendations on controller tuning; its applicability and performance are confirmed by extensive computer simulations.

AB - A nonholonomic constant speed underactuated robot with a bounded control range travels in three dimensions. A group of targets unpredictably moves in all three dimensions. The robot measures only the distances to the targets and also has access to a certain spatial direction and its own coordinate (termed 'altitude') along it. We present a new navigation law that drives the robot to the locus of points at a prespecified root-mean-square distance from the targets and ensures dense sweep coverage of this locus within a given range of 'altitudes.' This law is rigorously justified by a nonlocal convergence result supported by recommendations on controller tuning; its applicability and performance are confirmed by extensive computer simulations.

KW - Circumnavigation of multiple targets

KW - mobile robots

KW - robot navigation

KW - sensor-based control

KW - three-dimensional (3-D) maneuvers

KW - CYCLIC PURSUIT STRATEGY

KW - LOCALIZATION

KW - MOTION

KW - MULTIVEHICLE SYSTEMS

KW - TRACKING

KW - NAVIGATION

KW - COOPERATIVE CONTROL

UR - http://www.scopus.com/inward/record.url?scp=85030793021&partnerID=8YFLogxK

UR - http://ieeexplore.ieee.org/document/8055621/

UR - http://www.mendeley.com/research/rangeonly-based-3d-circumnavigation-multiple-moving-targets-nonholonomic-mobile-robot

U2 - 10.1109/TAC.2017.2758843

DO - 10.1109/TAC.2017.2758843

M3 - Article

VL - 63

SP - 2032

EP - 2045

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

SN - 0018-9286

IS - 7

ER -

ID: 36614744