Relative Heading based Pattern Generation

Abstract

The objective of this paper is to generate planar patterns using a unicycle based robot. These patterns are annular and centred around a fixed point in the plane, which is termed as center point. The center could be any landmark for various purposes of target monitoring, exploration etc. The patterns are defined in terms of maximum and minimum radial distance from the center. The paper proposes a control strategy based on relative heading of the robot with respect to center. Analysis has been performed to guarantee the generation of annular patterns by imposing conditions over initial conditions and control law parameters. Verification of the theoretical results has been performed by means of simulation. Further, the control strategy has been implemented on a mobile robot to validate the results.