Localization and Circumnavigation of a Slowly Moving Target Using Bearing Measurements

被引：196

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

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