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Pursuit Techniques on Pioneer Robots

dc.contributor.authorGehrels, Thomas
dc.date.accessioned2007-08-21T19:30:44Z
dc.date.available2007-08-21T19:30:44Z
dc.date.issued2007-08-21
dc.identifier.urihttp://hdl.handle.net/1903/7085
dc.description.abstractThis summer's research goal was to investigate different types of pursuit games. We seeked to develop feedback controls laws that will realize strategies such as classical pursuit, constant bearing pursuit, and motion camouflage. The latter being a strategy used in nature, for example, when hoverflies chase possible mates or when dragonflies engage in aerial territorial battles. (Echolocating bats hunt insect prey using a constant absolute target direction (CATD) strategy which is geometrically indistinguishable from motion camouflage.) These algorithms were implemented on the Pioneer robots using the high level motion control language MDLe. We also implemented an extended Kalman filter to improve the position estimation provided by the Cricket sensors.en
dc.format.extent1394766 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen
dc.relation.ispartofseriesTRen
dc.relation.ispartofseries2007-13en
dc.subjectroboticsen
dc.subjectREUen
dc.subjectfeedback controlen
dc.subjectpursuiten
dc.subjectmotion camouflageen
dc.subjectPioneer robotsen
dc.subjectMDLeen
dc.subjectKalman filteren
dc.titlePursuit Techniques on Pioneer Robotsen
dc.typeTechnical Reporten
dc.relation.isAvailableAtInstitute for Systems Researchen_us
dc.relation.isAvailableAtDigital Repository at the University of Marylanden_us
dc.relation.isAvailableAtUniversity of Maryland (College Park, MD)en_us


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