Relative docking via range-only measurements

• Main Authors: Cao, Kun, Qiu, Zhirong, Xie, Lihua
• 其他作者: School of Electrical and Electronic Engineering
• 格式: Conference or Workshop Item
• 語言: English
• 出版: 2021
• 主題: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering; Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics; Navigation; Robot Sensing Systems
• 在線閱讀: https://hdl.handle.net/10356/146207

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...