Orchestrating on-board sensors for global hybrid robust stabilization of unicycles

Abstract

We consider mobile robots described through unicycle dynamics equipped with on-board range sensors and cameras, one facing forward and one facing backward, providing measurements of the distance and misalignment to a target. We propose a hybrid control law combining the two on-board measurements and discuss stability results for the closed-loop expressed in the on-board camerabased coordinates, using Lyapunov-based arguments. We prove robustness of the stability properties to uncertainties affecting the sensors and external perturbations acting on the robot. The results are illustrated via simulations