Range based control law to generate patterns with a unicycle
Twinkle Tripathy, Arpita Sinha, Hemendra Arya, Aseem Vivek Borkar · 2016
The paper focuses on generating patterns in a plane that can serve several applications like (irregular-boundary) coverage, (differentiated) surveillance, etc. These patterns are centred around a stationary point, termed as target. For practical purposes, a target point can be any landmark, beacon, etc. A control law is proposed as a continuous function of range information (distance between the agent and target) to generate a periodic annular pattern under certain conditions. Also, a switching strategy is presented to switch the agent trajectory periodically among these annular patterns. Simulation and experimental results have been presented to validate the theoretical results.