Localization and Circumnavigation of a Slowly Moving Target Using Bearing Measurements

被引：189

作者：

Deghat, Mohammad ^{[1
,2
]}

Shames, Iman ^{[3
]}

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

Yu, Changbin ^{[1
,4
]}

机构：

[1] Australian Natl Univ, Res Sch Engn, Canberra, ACT 0200, Australia

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

[3] Univ Melbourne, Sch Elect & Elect Engn, Melbourne, Vic 3010, Australia

[4] Shandong Comp Sci Ctr, Jinan, Peoples R China

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2014年 / 59卷 / 08期

基金：

澳大利亚研究理事会;

关键词：

Localization; persistence of excitation; target tracking; CYCLIC PURSUIT;

D O I：

10.1109/TAC.2014.2299011

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of localization and circumnavigation of a slowly moving target with unknown speed has been considered. The agent only knows its own position with respect to its initial frame, and the bearing angle to the target in that frame. We propose an estimator to localize the target and a control law that forces the agent to move on a circular trajectory around the target such that both the estimator and the control system are exponentially stable. We consider two different cases where the agent's speed is constant and variable. The performance of the proposed algorithm is verified through simulations.

引用

页码：2182 / 2188

页数：7

共 23 条

[1] [Anonymous], 1960, Automation and Remote Control
[2] [Anonymous], 2008, AUTOMATICA, V44, P3025
[3] A continuous time linear adaptive source localization algorithm, robust to persistent drift
Dandach, Sandra H.
Fidan, Baris
Dasgupta, Soura
Anderson, Brian D. O.
[J]. SYSTEMS & CONTROL LETTERS, 2009, 58 (01) : 7 - 16
[4] DAngelo H., 1970, Linear Time Varying Systems: Analysis and Synthesis, Vfirst
[5] Deghat M, 2012, IEEE INT C INT ROBOT, P1227, DOI 10.1109/IROS.2012.6386250
[6] Target Localization and Circumnavigation Using Bearing Measurements in 2D
Deghat, Mohammad
Shames, Iman
Anderson, Brian D. O.
Yu, Changbin
[J]. 49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2010, : 334 - 339
[7] Adaptive range-measurement-based target pursuit
Fidan, Baris
Dasgupta, Soura
Anderson, Brian D. O.
[J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2013, 27 (1-2) : 66 - 81
[8] Franchi A., 2010, IFAC Proceedings Volumes, P151, DOI DOI 10.3182/20100906-3-IT-2019.00028
[9] Holland GJ, 2001, B AM METEOROL SOC, V82, P889, DOI 10.1175/1520-0477(2001)082<0889:TARAAN>2.3.CO
[10] 2

← 1 2 3 →