Multi‐targets localization and elliptical circumnavigation by multi‐agents using bearing‐only measurements in two‐dimensional space

Summary In order to enable the multi‐agents to elliptically circumnavigate the multi‐targets in more complex environment, we propose a geometric center estimator and an elliptical circumnavigation controller in two‐dimensional space by only employing bearing measurements without knowing the target&#...

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Bibliographic Details
Published in:International journal of robust and nonlinear control Vol. 30; no. 8; pp. 3250 - 3268
Main Authors: Chun, Shaoheng, Tian, Yu‐Ping
Format: Journal Article
Language:English
Published: Bognor Regis Wiley Subscription Services, Inc 25.05.2020
Subjects:
Algorithms
bearing measurements
circumnavigation
Computer simulation
Dynamic stability
multi‐agents system
Position measurement
target localization
ISSN:1049-8923, 1099-1239
Online Access:Get full text
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Summary:Summary In order to enable the multi‐agents to elliptically circumnavigate the multi‐targets in more complex environment, we propose a geometric center estimator and an elliptical circumnavigation controller in two‐dimensional space by only employing bearing measurements without knowing the target's position and velocity. The stability of the algorithm is proved for both stationary targets and dynamic targets. Finally, a series of numerical simulations is presented to verify the correctness of the algorithm both in ideal networks and in networks with communication delays.
Bibliography:Funding information
National Natural Science Foundation of China, 61573105
ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.4932