Bearing-Only Navigation With Field of View Constraints

This paper addresses the problem of navigation using only relative direction measurements (i.e., distances are unknown) under field view constraints. We present a novel vector for bearing-based visual homing with respect to static landmarks in 2-D and 3-D environments. Our method employs two control fields that tangent normal ellipsoids having as their foci. The steers robot set points where average observed bearings is parallel desired bearings, uses angle between pair proxy adjust robot's distance from satisfy Both blended together construct an almost globally stable law. easy implement, it requires comparisons angles pairs vectors. provide simulations demonstrate performance our approach double integrator system unicycles.