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Robust Steering Control for Autonomous Homing and its Application in Visual Homing under Practical Conditions

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Abstract

The paper presents a robust control law for homing of an autonomous robot. The proposed work aims to solve this problem for practical conditions such as random errors in commanded velocities and unknown distance sensor characteristics. The proposed steering control aligns the robot’s orientation with homing vector using arbitrary real valued distance function providing the capability to work in changing environment conditions. Finite time convergence to the equilibrium using proposed control law is achieved in the presence of bounded random velocity errors regardless of the initial position and orientation. Just the sign information as feedback supports applicability of proposed control law with any distance function. A matching parameter between panoramic images obtained at home and current positions is a function of distance between home and current positions. However, explicit relation between distance and image matching parameter is unknown. This work demonstrates the application of proposed method for visual homing based on image distance function rendering the benefit of minimal image processing. Various simulation and experimental results are presented for visual homing to support the theory presented in this paper. Advantage of proposed visual homing is also explored in changing environment conditions.

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Authors and Affiliations

  1. Systems and Control Engineering, Indian Institute of Technology Bombay, 400076, Mumbai, India

    Arunkumar G. K., Anupa Sabnis & Leena Vachhani

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  1. Arunkumar G. K.
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  2. Anupa Sabnis
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  3. Leena Vachhani
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Correspondence to Leena Vachhani.

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Arunkumar G. K., Sabnis, A. & Vachhani, L. Robust Steering Control for Autonomous Homing and its Application in Visual Homing under Practical Conditions. J Intell Robot Syst 89, 403–419 (2018). https://doi.org/10.1007/s10846-017-0561-2

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