Multi-target localization and circumnavigation by a single agent using bearing measurements

被引：73

作者：

Deghat, Mohammad ^{[1
,2
]}

Xia, Lu ^{[3
]}

Anderson, Brian D. O. ^{[1
,2
]}

Hong, Yiguang ^{[4
]}

机构：

[1] Australian Natl Univ, Res Sch Engn, Canberra, ACT 2601, Australia

[2] Natl ICT Australia, Canberra, ACT 2601, Australia

[3] Univ Melbourne, Melbourne, Vic, Australia

[4] Chinese Acad Sci, Acad Math & Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2015年 / 25卷 / 14期

基金：

美国国家科学基金会; 澳大利亚研究理事会;

关键词：

target localization; circumnavigation; persistence of excitation; COLLECTIVE MOTION; KALMAN FILTER;

D O I：

10.1002/rnc.3208

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers the problem of localization and circumnavigation of a group of targets, which are either stationary or moving slowly with unknown speed, by a single agent. An estimator is proposed, initially for the stationary target case, to localize the targets and the center of mass of them as well as a control law that forces the agent to move on a circular trajectory around the center of mass of the targets such that both the estimator and the controller are exponentially stable. Then the case where the targets might experience slow but possibly steady movements is studied. The system inputs include the agent's position and the bearing angles to the targets. The performance of the proposed algorithms is verified through simulations. Copyright (c) 2014 John Wiley & Sons, Ltd.

引用

页码：2362 / 2374

页数：13

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