论文标题
基于样本的输出反馈导航，并进行轴承测量
Sample-Based Output-Feedback Navigation with Bearing Measurements
论文作者
论文摘要
我们考虑了来自轴承（仅方向）测量的基于样本反馈的运动计划的问题。我们基于以前的工作，该工作定义了使用RRT*定义环境的单元格分解，并找到了输出反馈控制器，可以使用二元性，控制Lyapunov和屏障功能（CLF，CBF）和线性编程将每个单元格通向每个小区的目标位置。在本文中，我们提出了一种新型策略，该策略使用相对于环境中一组地标的相对轴承测量，而不是完全相对位移。然后，主要优点是可以使用简单的单眼相机获得测量。我们在模拟中测试了所提出的算法，然后在实验环境中测试了在机器人动力学模型中的不匹配等实践问题的性能，以及使用具有有限视野的相机获得的测量值。
We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback controller to navigate through each cell toward a goal location using duality, Control Lyapunov and Barrier Functions (CLF, CBF), and Linear Programming. In this paper, we propose a novel strategy that uses relative bearing measurements with respect to a set of landmarks in the environment, as opposed to full relative displacements. The main advantage is then that the measurements can be obtained using a simple monocular camera. We test the proposed algorithm in the simulation, and then in an experimental environment to evaluate the performance of our approach with respect to practical issues such as mismatches in the dynamical model of the robot, and measurements acquired with a camera with a limited field of view.
