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Terminal approach navigation for autonomous robots in a sensory network

Pathirana, Pubudu, Black, Timothy and Nahavandi, Saeid 2005, Terminal approach navigation for autonomous robots in a sensory network, in 2005 3rd IEEE International Conference on Industrial Informatics (INDIN), IEEE Xplore, Piscataway, N.J., pp. 552-557.

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Title Terminal approach navigation for autonomous robots in a sensory network
Author(s) Pathirana, Pubudu
Black, Timothy
Nahavandi, Saeid
Conference name International Conference on Industrial Informatics (3rd : 2005 : Perth, W.A.)
Conference location Perth, Australia
Conference dates 10-12 August 2005
Title of proceedings 2005 3rd IEEE International Conference on Industrial Informatics (INDIN)
Editor(s) Dillon. T
Yu, X
Publication date 2005
Conference series IEEE International Conference on Industrial Informatics
Start page 552
End page 557
Publisher IEEE Xplore
Place of publication Piscataway, N.J.
Keyword(s) linear quadratic control
mobile robots
sensor fusion
Summary In this paper we present a technique based on precision guidance approach for the sensor delivery and reception problem between two mobile robots. A slave robot is employed to collect sensors and slack them on a tray carried by the mobile master robot. We define the terminal attitude of the slave robot with respect to the master and present a LQR control approach to solving the problem of achieving a desired terminal approach angle necessary for the appropriate sensor delivery. The approach criteria is defined in terms of both minimizing the miss distance and controlling the slave robot's body attitude with respect to the master robot at the terminal point.
Notes This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
ISBN 0780390954
0780390946
Language eng
Field of Research 099999 Engineering not elsewhere classified
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2005, IEEE.
Persistent URL http://hdl.handle.net/10536/DRO/DU:30005651

Document type: Conference Paper
Collections: School of Engineering and Information Technology
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