Relative docking via range-only measurements
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...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2021
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/146207 |
| _version_ | 1811696895169396736 |
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| author | Cao, Kun Qiu, Zhirong Xie, Lihua |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Cao, Kun Qiu, Zhirong Xie, Lihua |
| author_sort | Cao, Kun |
| collection | NTU |
| description | 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 controllers only require distance and odometry measurements. Instead of using a single range measurement as an indicator of the proximity to the desired docking point in existing works, the main idea of this work is to construct additional artificial anchors along the robot's motion trajectory first and then adopt the measurements corresponding to these anchors as the indicator. It is proved that the proposed controller will navigate the robot to the desired docking position asymptotically given proper parameter settings. Two simulation examples are presented to demonstrate the effectiveness of our theoretical results. |
| first_indexed | 2024-10-01T07:46:38Z |
| format | Conference Paper |
| id | ntu-10356/146207 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:46:38Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1462072021-02-02T03:08:18Z Relative docking via range-only measurements Cao, Kun Qiu, Zhirong Xie, Lihua School of Electrical and Electronic Engineering 2019 IEEE 15th International Conference on Control and Automation (ICCA) ST Engineering-NTU Corporate Lab Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Navigation Robot Sensing Systems 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 controllers only require distance and odometry measurements. Instead of using a single range measurement as an indicator of the proximity to the desired docking point in existing works, the main idea of this work is to construct additional artificial anchors along the robot's motion trajectory first and then adopt the measurements corresponding to these anchors as the indicator. It is proved that the proposed controller will navigate the robot to the desired docking position asymptotically given proper parameter settings. Two simulation examples are presented to demonstrate the effectiveness of our theoretical results. Nanyang Technological University National Research Foundation (NRF) Accepted version 2021-02-02T03:08:18Z 2021-02-02T03:08:18Z 2019 Conference Paper Cao, K., Qiu, Z., & Xie, L. (2019). Relative docking via range-only measurements. Proceedings of IEEE International Conference on Control and Automation (ICCA), 1114-1119. doi:10.1109/ICCA.2019.8899989 9781728111643 https://hdl.handle.net/10356/146207 10.1109/ICCA.2019.8899989 2-s2.0-85075785537 1114 1119 en © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/ICCA.2019.8899989 application/pdf |
| spellingShingle | Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Navigation Robot Sensing Systems Cao, Kun Qiu, Zhirong Xie, Lihua Relative docking via range-only measurements |
| title | Relative docking via range-only measurements |
| title_full | Relative docking via range-only measurements |
| title_fullStr | Relative docking via range-only measurements |
| title_full_unstemmed | Relative docking via range-only measurements |
| title_short | Relative docking via range-only measurements |
| title_sort | relative docking via range only measurements |
| topic | Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Navigation Robot Sensing Systems |
| url | https://hdl.handle.net/10356/146207 |
| work_keys_str_mv | AT caokun relativedockingviarangeonlymeasurements AT qiuzhirong relativedockingviarangeonlymeasurements AT xielihua relativedockingviarangeonlymeasurements |