This paper deals with a surveillance problem where the objective is to achieve a circular motion around a stationary target using a non-holonomic differentially driven mobile robot. The available information for the robot are its own position, velocity in the inertial frame and the bearing angle of the target with respect to its body frame. Since the position of the target is unknown, an estimator is firstly proposed to obtain such information and then a controller is given to drive the mobile robot circle around the target with a desired radius. Convergence of the proposed algorithms is proven and their performance is demonstrated in simulations, where the estimation errors are shown to approach to a vicinity of zero and the mobile robot asymptotically converges to a small neighborhood of a designed radius.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Target Circumnavigation of A Mobile Robot Using Bearing Measurements


    Contributors:
    Wang, Lei (author) / Meng, Ziyang (author) / Zou, Yao (author)


    Publication date :

    2018-08-01


    Size :

    197109 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Target Tracking With Circumnavigation Scheme Using Discrete Bearing and Control Input

    Wang, Dongzhen / Zhang, Zhenghua / Zhao, Yu et al. | IEEE | 2024


    Circumnavigation with Side-Bearing Angle

    Park, Sanghyuk | Springer Verlag | 2017




    Circumnavigation control design of space flight vehicle using bearing measurement only

    Shen, Yangfan / He, Fenghua / Yi, Fang et al. | IEEE | 2014