On the stability of mobile robot rendezvous

Abstract

Considers the optimal and suboptimal rendezvous control problem for mobile robot navigation. The optimal rendezvous control problem is derived for one and two dimensional motion, and then used suboptimally in robot motion models. A parametric study of the system response with respect to the time to rendezvous and the first order response time constants of the suboptimal models is conducted. It is found that rendezvous is achieved under the conditions studied.