标题：Localization and Three-Dimensional Circumnavigation of Many Mobile Targets ‹ Based on Distance Measurements * * This work was supported by the Russian Science Foundation (Proj. No 14-21-00041p).
摘要：AbstractA group of targets moves in 3D in an unknown way. This group should be localized, approached, and circumnavigated by a nonholonomic under-actuated mobile robot. The robot measures only the distances to the targets and also has access to a certain space direction, along with its own coordinate (called “altitude”) along it. A novel navigation law is presented that guides the robot to the locus of space points at a desired root mean square distance from the targets and then ensures repeatedly sweeping over the part of this locus between given lower and upper “altitudes”. This law is reactive, i.e., it converts the current observations into current control in a reflex-like fashion. The proposed navigation approach is rigorously justified by a global convergence result; its performance is confirmed by computer simulation tests.
关键词：KeywordsRobot NavigationCircumnavigation of Multiple TargetsSensor Based Control
