Cisda2014 Minh

Control of a mobile agent using
only bearing measurements in triangular region

Minh Hoang Trinh 1 , Kwang-Kyo Oh
and Hyo-Sung Ahn
1 Distributed Control and Autonomous Systems Laboratory (DCASL),

School of Mechatronics, Gwangju Institute of Science and Technology (GIST)
Gwangju, Republic of Korea
2 Automotive Components and Materials R&BD Group,
Korea Institute of Industrial Technology, Gwangju, Republic of Korea
IEEE CISDA
December 15, 2014
Control of a mobile agent using only bearing measurements in triangular region
CISDA 2014
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Outline
Introduction
Preliminaries and problem formulation
The proposed control law and stability analysis
Simulation and hardware experiment
Conclusion
CISDA 2014
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Outline
1
Introduction
Motivation
Literature review

Preliminaries
Problem formulation

Proposed control law
Stability Analysis

Simulation
Hardware experiment with quadrotors
Conclusion
References
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Introduction
Robot navigation: the ability to determine its own position in its

frame of reference and then plan towards some goal location.
I
I
I
self-localization,
path planning,
map-building and map interpretation.
Landmark-based navigation:
I
I
detect the landmark (mostly from optical sensors),

compute relative location with landmarks (relative distances, bearing
angles),
control law to reach desired location.
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Motivation
Bearing-only navigation algorithms:

Bio-inspiration: insects eyes can obtain good angle but poor range
information1
Safety: a reserve solution when range sensors are malfunctioned
Economics: reduce sensors in the large systems
R. Wehner, Desert ant navigation: how miniature brains solve complex tasks, In
Journal of Comparative Physiology A, 189(8), 2003, pp. 579588.
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Literature review
Bearing-only navigation:
using directly bearings for navigation
I
I
McLeman (2002): visual landmarks navigation tactics in ants.

Bekris et. al. (2004): moving-toward-bisector strategy (without
proof ).
Loizou and Kumar (2007): a bearing-only control law with three
beacons (the mobile agent needs global frame information).
estimating distance from bearings to navigate

I
I
M. Ye et. al. (2013): multi-agent self-localization

Deghat et. al. (2014): simultaneously estimate distance and
circumnavigation.
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Outline
1
Introduction
Motivation
Literature review

Preliminaries
Problem formulation

Stability Analysis

Simulation
Conclusion
References
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Assumptions
A1
Assumption 1
y
^
u1
1
3
^
u3
A2
^
u2
2
A3
The agents initial position is

inside the triangle formed by the
three stationary beacons and is
not co-located with any beacons
position.
Figure 1: The agent is inside the triangle

A1 , A2 , A3 .
Assumption 2
The agent measures the bearing angles k , 0 k < 2, for k {1, 2, 3}
w.r.t. the beacons in its local reference frame. .
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Bearing and bearing vector

A1
p1
^
u1
3
A3
^
u
^
u2
2
p2
A2
Figure 2: The agent measures the bearings w.r.t. beacons A1 , A2 , A3 .
Definition: The bearing vector

uk :=
pAk p
pk
=
= 1k .
kpAk pk
kpk k
(1)
where k 1, 2, 3 and 1 is x-axis unit vector in the agents local frame.

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The subtended bearing

A2
A1
y
A1
3
x
3
2
1
A2
(a) Case 1: 3 = 3
(b) Case 2: 3 = 2 3
Let k = |k1 k+1 |, 0 k < 2.
Definition: The subtended bearing

k =
k
2 k
if 0 k
,
if k 2
(2)
for k {1, 2, 3}.

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Assumptions
Assumption 3
The desired location p is inside the triangular A1 , A2 , A3 . The agent
knows the subtended bearing angles 1 , 2 , 3 at desired location, which
satisfy
3
X
k = 2,
(3a)
k=1
ck < .
A
k
(3b)
The single-integrator dynamics is used to model the agent:

p = u,
where p, u R2 are the position of the agent and the control input
respectively.
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Problem formulation and proposed control law

A1
a2*
^
u1
^
u3
1
A3
a2
p*
a3*
a1*
p
a1
a3 ^
u2
1
A2
Figure 4: p is the desired position where three subtended bearing angles are 1 , 2 , 3 .
Problem 1
Under Assumptions 1-3, design a control law for the agent to reach to its
desired location asymptotically.
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Outline
1
Introduction
Motivation
Literature review

Preliminaries
Problem formulation

Stability Analysis

Simulation
Conclusion
References
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Proposed Control Law
Proposed control law using bearing-only measurements

p = u = u1 + u2 + u3 ,
(4)
where
u1 = ku (1 1 )u1 = ku e1 u1
u2 = ku (2 2 )u2 = ku e2 u2
u3 = ku (3 3 )u3 = ku e3 u3 ,
and ek = k k , k {1, 2, 3}: the subtended bearing error.
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Stability Analysis
Lemma 2
Under the control law (4), the agent will never escape from the triangle
A1 A2 A3 if it is initially positioned inside that region.
Proof.
A1
u1
^
u1
^
u3
a1*
^
u2
A2
A3
Figure 5: Illustration of Lemma 2s proof.
Consider a case when the agent is

on the side A2 A3 . Since u2 = u3
and e1 = 1 > 0, u1 drives the
agent into the triangle.
Other cases can be treated
similarly.
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Stability Analysis
A1
Lemma 3
a2*
a3*
a1*
A3
A2
There is a unique point inside the

triangle A1 , A2 , A3 satisfying all three
subtended angles 1 , 2 , 3 in the
Assumption 3.
Figure 6: The unique equilibrium point

inside the triangle.
Lemma 4
There is a unique equilibrium point of system (4) inside the triangle
A1 A2 A3 .
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The subtended bearings dynamics

1
1
1
1
sin 2 +
sin 3 )e1 + sin 1 e2 + sin 1 e3
r3
r2
r3
r2
= g11 e1 + f12 e2 + f13 e3
1 = (
1
1
1
1
sin 2 e1 ( sin 1 + sin 3 )e2 + sin 2 e3
r3
r3
r1
r1
= f21 e1 g22 e2 + f23 e3
2 =
1
1
1
1
sin 3 e1 + sin 3 e2 ( sin 2 + sin 1 )e3
r2
r1
r1
r2
= f31 e1 + f32 e2 g33 e3
3 =
where rk = kp pAk k, k {1, 2, 3}. Note that

gkk + f(k+1)k + f(k1)k = 0,
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Stability analysis
Let = [ 1 2 3 ]T , e =
e1 e2 e3
T
= e,
and
e = M(e)e
where
(5)
g11 f12
f13
M(e) = f21 g22 f23 .
f31
f32 g33
The system (5) is defined in

Me = (Ab1 1 , 1 ] (Ab2 2 , 2 ] (Ab3 3 , 3 ].
In Me : gkk 0, fjk 0 for j, k {1, 2, 3}
The column sums of M are zero.
Theorem 5
Under Assumptions 13 the origin of the system (5) is asymptotically
stable.
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Stability Analysis
Proof.
Consider the Lyapunov function: V (e) =
3
P
k =
k=1
3
P
|ek |:
k=1
V is positive definite in Me .
I
k = |ek |: convex, positive, Lipschitz continuous in Me {0}. k

is differentiable everywhere except at ek = 0.
The upper-right derivative of k at ek = 0 is D + k (ek ) = 1.
V is negative definite in Me .
I
The result is followed by considering three cases: ek = 0, ek > 0 and

ek < 0.
Based on Lyapunov stability theory [10], the system (5) is

asymptotically stable.
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Outline
1
Introduction
Motivation
Literature review

Preliminaries
Problem formulation

Stability Analysis

Simulation
Conclusion
References
CISDA 2014
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Simulation
Three beacons: A1 (1; 0), A2 (4; 0) and A3 (0; 5); Desired position:
1 = 2 = 3 = 2/3.
(b) Angle errors corresponding to the trajectory

(a) Trajectories under control law (4).
from the initial position (2.5; 1.5).
Figure 7: Simulation Results
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Quadrotor platform
Quadrotor platform
Quadrotors Modules
Controller: Atmega 2560
Sensors: Accelerometer, Gyro
sensor, Magnetometer, Sonar
sensor, Barometer, GPS.
Actuators: 4 brushless DC
motors
Communication: Zigbee
Figure 8: A quadrotor used in experiments
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Hardware experiment
Experiments setup & goal

three quadrotors acts as
stationary beacons
a quadrotor flies to desired
location satisfying:
1 = 2 = 3 = 120o .
Figure 9: Trajectory
Experiment Record
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Outline
1
Introduction
Motivation
Literature review

Preliminaries
Problem formulation

Stability Analysis

Simulation
Conclusion
References
CISDA 2014
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Conclusion
Summary
I
A navigation control law using only bearing measurements with three

stationary beacons.
Analysis using Lyapunov stability theory: the agent asymptotically
reaches desired location.
Simulation and hardware experiment.
Further research directions

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Extend the navigation control law to entire plane.

Analyze performance of the navigation control law under noise.
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Q. & A.
Thank you!
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References
[1] M. A. McLeman et. al., Navigation using visual landmarks by the ant leptothorax
albipennis, Insectes Sociaux, 2002.
[2] R. Wehner, Desert ant navigation: how miniature brains solve complex tasks, Journal of
Comparative Physiology A, 2003
[3] K. Bekris et. al., Angle-Based Methods for Mobile Robot Navigation: Reaching the Entire
Plane, ICRA, LA, 2004.
[4] S. Loizou et. al., Biologically inspired bearing-only navigation and tracking, CDC, 2007.
[5] M. Basiri et. al., Distributed control of triangular formations with angle-only constraints,
Systems and Control Letters, 2010.
[6] A. Bishop, Distributed bearing-only formation control with four agents and a weak control
law, Proc. of the 9th IEEE Int. CCA , 2011.
[7] A. N. Bishop et. al., Control of triangle formations with a mix of angle and distance
constraints, in Conference on Control Applications, 2012.
[8] M. Ye et. al., Multiagent Self-Localization Using Bearing Only Measurements, 52nd IEEE
Conference on Decision and Control, Florence, Italy, December, 2013.
[9] M. Deghat et. al., Multi-target localization and circumnavigation by a single agent using
bearing measurements, Int. J. Robust Nonlinear Control, 2014.
[10] H. Khalil, Nonlinear systems, 3nd ed., Prentice-Hall, 2002.

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Control of a mobile agent using

only bearing measurements in triangular region

and Hyo-Sung Ahn

1 Distributed Control and Autonomous Systems Laboratory (DCASL),

Control of a mobile agent using only bearing measurements in triangular region

Preliminaries and problem formulation

The proposed control law and stability analysis

Simulation and hardware experiment

Control of a mobile agent using only bearing measurements in triangular region

Preliminaries and problem formulation

The proposed control law and stability analysis

Simulation and hardware experiment

Robot navigation: the ability to determine its own position in its

detect the landmark (mostly from optical sensors),

Control of a mobile agent using only bearing measurements in triangular region

Bearing-only navigation algorithms:

McLeman (2002): visual landmarks navigation tactics in ants.

estimating distance from bearings to navigate

M. Ye et. al. (2013): multi-agent self-localization

Control of a mobile agent using only bearing measurements in triangular region

Preliminaries and problem formulation

The proposed control law and stability analysis

Simulation and hardware experiment

The agents initial position is

Figure 1: The agent is inside the triangle

Bearing and bearing vector

Figure 2: The agent measures the bearings w.r.t. beacons A1 , A2 , A3 .

Definition: The bearing vector

where k 1, 2, 3 and 1 is x-axis unit vector in the agents local frame.

The subtended bearing

Let k = |k1 k+1 |, 0 k < 2.

Definition: The subtended bearing

for k {1, 2, 3}.

The single-integrator dynamics is used to model the agent:

Problem formulation and proposed control law

Control of a mobile agent using only bearing measurements in triangular region

Preliminaries and problem formulation

The proposed control law and stability analysis

Simulation and hardware experiment

Proposed Control Law

Proposed control law using bearing-only measurements

Control of a mobile agent using only bearing measurements in triangular region

Figure 5: Illustration of Lemma 2s proof.

Consider a case when the agent is

Control of a mobile agent using only bearing measurements in triangular region

There is a unique point inside the

Figure 6: The unique equilibrium point

The subtended bearings dynamics

where rk = kp pAk k, k {1, 2, 3}. Note that

The system (5) is defined in

k = |ek |: convex, positive, Lipschitz continuous in Me {0}. k

The result is followed by considering three cases: ek = 0, ek > 0 and

Based on Lyapunov stability theory [10], the system (5) is

Control of a mobile agent using only bearing measurements in triangular region

Preliminaries and problem formulation

The proposed control law and stability analysis

Simulation and hardware experiment

(b) Angle errors corresponding to the trajectory

from the initial position (2.5; 1.5).

Figure 7: Simulation Results

Control of a mobile agent using only bearing measurements in triangular region

Figure 8: A quadrotor used in experiments

Control of a mobile agent using only bearing measurements in triangular region

Experiments setup & goal