Journal
AUTOMATICA
Volume 47, Issue 1, Pages 177-184Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2010.10.025
Keywords
Wheeled robots; Guidance; Navigation; Range-only measurements; Sliding mode control
Funding
- Australian Research Council
- Russian Foundation for Basic Research [08-01-00775, 09-08-00803]
- Russian Federal Program [2010-1.1-111-128-033]
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We consider the problem of navigation and guidance of a wheeled mobile robot towards a maneuvering target based on the measurements concerning only the distance from the robot to the target. We propose a sliding mode controller that drives the robot to the predefined distance from the target and makes the robot follow the target at this distance. Mathematically rigorous proof of convergence and stability of the proposed guidance law is presented. Simulation results confirm the applicability and performance of the proposed guidance approach. (C) 2010 Elsevier Ltd. All rights reserved.
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