Equiangular navigation and guidance of a wheeled mobile robot using range-only measurements

We consider the problems of a wheeled mobile robot navigation and guidance towards an unknown stationary or maneuvering target using range-only measurements. We propose and study several methods for navigation and guidance termed equiangular navigation guidance (ENG) laws. We give mathematically rigorous proofs of convergence and stability of the proposed guidance laws. The performance is confirmed with computer simulations and experiments with ActivMedia Pioneer 3-DX wheeled robots.