Fethi Belkhouche

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This paper deals with the problem of modeling and controlling a robotic convoy. Guidance laws techniques are used to provide a mathematical formulation of the problem. The guidance laws used for this purpose are the velocity pursuit, the deviated pursuit, and the proportional navigation. The velocity pursuit equations model the robot's path under various(More)
In this paper, we consider the problem of robot tracking and navigation toward a moving goal. The goal's maneuvers are not a priori known to the robot. Thus, off-line strategies are not effective. To model the robot and the goal, we use geometric rules combined with kinematics equations expressed in a polar representation. The intent of the strategy is to(More)
We present a method for wheeled mobile robot navigation based on the proportional navigation law. This method integrates the robot’s kinematics equations and geometric rules. According to the control strategy, the robot’s angular velocity is proportional to the rate of turn of the angle of the line of sight that joins the robot and the goal. We derive a(More)
This paper deals with the problem of mobile robot tracking an unpredictably moving target in the presence of obstacles. We suggest a new family of navigation laws that consists of cubic navigation functions. These laws depend on various external parameters that can be used to adjust the robot’s path, especially to avoid collision with obstacles. The(More)
This paper deals with the problem of path planning in a dynamic environment, where the workspace is cluttered with unpredictably moving objects. The concept of the virtual plane is introduced and used to create reactive kinematic-based navigation laws. A virtual plane is an invertible transformation equivalent to the workspace, which is constructed by using(More)
F. Belkhouche and B. Belkhouche Robotica / Volume null / Issue 06 / November 2005, pp 709 ­ 720 DOI: 10.1017/S0263574704001523, Published online: 10 November 2005 Link to this article: http://journals.cambridge.org/abstract_S0263574704001523 How to cite this article: F. Belkhouche and B. Belkhouche (2005). A method for robot navigation toward a moving goal(More)
This paper deals with the problem of tracking and interception of an object moving with unknown maneuvers by a wheeled mobile robot. We design a closed loop control law based on a guidance strategy for this purpose. The guidance strategy uses geometrical rules combined with the kinematics equations, where the robot's angular velocity is equal to the rate of(More)
In this paper we present a control strategy for tracking-interception of moving objects using wheeled mobile robots. This method makes use of geometric rules combined with the kinematics equations. The objective of the control strategy is to put the robot in a rendezvous course with the target. This is accomplished by keeping the robot in the line joining(More)