Prasad, Avinesh and Sharma, Bibhya N. and Vanualailai, Jito (2019) Motion Camouflage for Point-Mass Robots Using a Lyapunov-based Control Scheme. [Conference Proceedings]
PDF
- Published Version
Restricted to Repository staff only Download (378kB) | Request a copy |
Abstract
This article presents a new solution to the motion camouflage problem for point-mass robots using a Lyapunovbased control scheme. We consider a workspace with one shadower and one shadowee. We design our control inputs for shadower and the shadowee such that at each moment the shadower must follow the camouflage constraint line (the line that joins the instantaneous position of the shadowee with a fixed focal point). This strategy allows the shadower to appear stationary to the shadowee and will help the shadower to effectively catch the shadowee without spending much of its energy. The convergence of the two robots to a neighborhood of a pre-defined target is guaranteed by the Lyapunov’s direct method. Computer simulations validate the control inputs and the effectiveness of Lyapunov-based control scheme.
Item Type: | Conference Proceedings |
---|---|
Subjects: | Q Science > QA Mathematics |
Divisions: | Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences |
Depositing User: | Avinesh Prasad |
Date Deposited: | 18 Jun 2019 22:47 |
Last Modified: | 18 Jun 2019 22:47 |
URI: | https://repository.usp.ac.fj/id/eprint/11586 |
Actions (login required)
View Item |