Title
Enclosing a target by nonholonomic mobile robots with bearing-only measurements.
Abstract
This paper addresses the problem of steering a single or a group of autonomous nonholonomic mobile robots to enclose a target of interest. We develop control schemes which require only local bearing measurements, and deal with encirclement of two types of targets: point target and disk target. When a single robot is used, circumnavigation schemes are proposed to achieve effective encirclement of the target. It is shown that under the proposed control schemes, the robot can circle the target from a prescribed distance without distance measurement. When multiple robots are deployed, the control schemes developed for single robot are modified by introducing a coordination mechanism, which drives the robots to distribute evenly around the target. We further discuss a control scheme that moves the robots to form a static circular formation around the target based on feedback linearization. All the proposed control schemes are validated in experiments on a group of two-wheeled differential drive mobile robots.
Year
DOI
Venue
2015
10.1016/j.automatica.2015.01.014
Automatica
Keywords
Field
DocType
Distributed robot systems,Multiple mobile robots,Surveillance systems,Wheeled robots
Robot control,Point target,Encirclement,Control theory,Feedback linearization,Control engineering,Bearing (mechanical),Robot,Mobile robot,Mathematics,Circumnavigation
Journal
Volume
Issue
ISSN
53
1
0005-1098
Citations 
PageRank 
References 
42
1.22
29
Authors
3
Name
Order
Citations
PageRank
Ronghao Zheng113215.97
Liu YH21540185.05
Dong Sun315423.78