Cooperative localization and circumnavigation of multiple targets with bearing-only measurements |
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| Institution: | 1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, PR China;2. Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education, Chongqing University, Chongqing 400044, PR China;3. School of Automation, Chongqing University, Chongqing 400044, PR China;1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China;2. DB Institute for Intelligent Technology, Inc., Chongqing 400044, China;3. Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education, Chongqing University, Chongqing 400044, China;4. School of Automation,Chongqing University, Chongqing 400044, China |
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| Abstract: | This paper studies the multi-target localization and circumnavigation problem for a networked multi-agent system using bearing-only measurements. A more general case that only some of the agents are responsible for measuring the bearing angles with respect to the targets is considered. First, a novel estimator is developed for the agents to locate the targets collaboratively, based on which the geometric center of multi-target is reconstructed by each agent. Then, an estimator-based distributed controller is proposed to steer the agents, such that they can enclose the targets along different circles centered at the geometric center of multi-target with any desired angular spacing. By using Lyapunov stability theory, graph theory and consensus algorithm, global exponential stability of the overall system is analyzed rigorously. Besides, it is proved that bounded angular velocity of each agent and collision avoidance between the target and agent can be guaranteed in the whole movement process. Finally, numerical simulations are given to corroborate the theoretical results. |
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