TY - GEN
T1 - Trajectory tracking among landmarks and binary sensor-beams
AU - Tovar, Benjamín
AU - Murphey, Todd
PY - 2012
Y1 - 2012
N2 - We study a trajectory tracking problem for a mobile robot moving in the plane using combinatorial observations of the state. These observations come from crossing binary detection beams. A binary detection beam is a sensing abstraction arising from physical sensor beams or virtual beams that are derived from several sensing modalities, such as actual detection beams in the environment, changes in the angular order of landmarks around the robot, or recognizable markings in the plane. We solve the filtering problem from a geometric perspective and present its relation to linear recursive filters in control theory. Subsequently, we develop the acceleration control of the robot to track a given input trajectory, with a finite control set consisting on moving toward landmarks naturally modeling the robot as a switched dynamical system. We present experiments using an e-puck differential-drive robot, in which a useful estimate of the state for tracking is produced regardless of nontrivial uncertainty.
AB - We study a trajectory tracking problem for a mobile robot moving in the plane using combinatorial observations of the state. These observations come from crossing binary detection beams. A binary detection beam is a sensing abstraction arising from physical sensor beams or virtual beams that are derived from several sensing modalities, such as actual detection beams in the environment, changes in the angular order of landmarks around the robot, or recognizable markings in the plane. We solve the filtering problem from a geometric perspective and present its relation to linear recursive filters in control theory. Subsequently, we develop the acceleration control of the robot to track a given input trajectory, with a finite control set consisting on moving toward landmarks naturally modeling the robot as a switched dynamical system. We present experiments using an e-puck differential-drive robot, in which a useful estimate of the state for tracking is produced regardless of nontrivial uncertainty.
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U2 - 10.1109/ICRA.2012.6224748
DO - 10.1109/ICRA.2012.6224748
M3 - Conference contribution
AN - SCOPUS:84864491539
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2121
EP - 2127
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -