Relative docking via range-only measurements

• Main Authors: Cao, Kun, Qiu, Zhirong, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2021
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering; Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics; Navigation; Robot Sensing Systems
• Online Access: https://hdl.handle.net/10356/146207
• Institution: Nanyang Technological University

This paper studies the problem of range-based relative docking of a single robot. In particular, we propose an integrated localization and navigation scheme for a robot to navigate itself to a desired relative displacement w.r.t. a fixed landmark at an unknown position, where the proposed controller...