论文标题
唯一的轴承导航和视野约束
Bearing-Only Navigation with Field of View Constraints
论文作者
论文摘要
本文仅使用相对方向测量值（即，相对距离是未知）解决了导航问题。我们为在二-D和3-D环境中的静态视觉地标方面提供了一个新型的导航矢量场，用于基于轴承的视觉归宿问题。我们的方法采用了两个对照场，这些控制场与具有地标作为其焦点的椭圆形相切，并且正常。切线场将机器人引导到一组点，其中观察到的轴承的平均值与所需轴承的平均值平行，并且正常场将一对轴承之间的角度用作代理，以调整机器人与地标的距离并满足视野约束。将这两个领域混合在一起以构建几乎全球稳定的控制法。我们的方法易于实现，因为它仅需要在平均轴承之间以及对向量对的角度之间进行比较。我们提供模拟，以证明双集成器系统和独轮车的方法的性能。
This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation vector field for the bearing-based visual homing problem with respect to static visual landmarks in 2-D and 3-D environments. Our method employs two control fields that are tangent and normal to ellipsoids having landmarks as their foci. The tangent field steers the robot to a set of points where the average of observed bearings is parallel to the average of the desired bearings, and the normal field uses the angle between a pair of bearings as a proxy to adjust the robot's distance from landmarks and to satisfy the field of view constraints. Both fields are blended together to construct an almost globally stable control law. Our method is easy to implement, as it requires only comparisons between average bearings, and between angles of pairs of vectors. We provide simulations that demonstrate the performance of our approach for a double integrator system and unicycles.
