Author: sergey shulman
Supervisor: Prof. Tal Shima
In some operating systems there is a need for maintenance of position relative to some target. As an example we can look at a simple ground to air missile launcher, this kind of systems must maintain a specific launching angle for the missiles while heading in the general direction of the target. The chances for interception increases with more accurate starting .
The following video shows a simple proportional control system that manages to obtain two angles relative to a given target, the TurtleBot maintaining a heading towards a moving target while maintaining a fixed angle relative to this target.
The Implementation of the algorithm was made with several system that we have in our lab. We wrought the controlling program in the simulink environment, The location of the bodies was obtained by our Optitrack cameras and the transmission of the commands was made by Ros (WiFi).