A strategy for target capturing with collision avoidance for non-holonomic robots with sector vision and range-only measurements
作者： Asya Zakhar'eva , Alexey S. Matveev , Michael Hoy , Andrey V. Savkin
关键词:
摘要: We consider the problem of capturing a target by team kinematically controlled non-holonomic Dubins-like vehicles based on range-only measurements. Every vehicle has access to distance and distances companions from given disc sector centered at this vehicle. The objective is drive all circle prescribed radius target, uniformly distribute them along circle, ensure pre-specified speed direction their motion circle. A decentralized control law proposed investigated. Mathematically rigorous proofs its convergence stability, as well collision avoidance property are presented; performance illustrated computer simulations.
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