Terminal approach navigation for autonomous robots in a sensory network

• Published in: INDIN '05. 2005 3rd IEEE International Conference on Industrial Informatics, 2005 pp. 552 - 557
• Main Authors: Pathirana, P.N., Black, T.J., Nahavandi, S.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2005
• Subjects: Attitude control; Australia; Intelligent networks; Master-slave; Mobile robots; Navigation; Robot control; Robot sensing systems; Sensor phenomena and characterization; Wireless sensor networks
• ISBN: 9780780390942; 0780390946
• ISSN: 1935-4576; 2378-363X
• DOI: 10.1109/INDIN.2005.1560436

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.