This paper presents theoretically justified controllers that use relative range and bearing measurements to steer a team of autonomous vehicles, operating without inertial position information, to circular trajectories around a constant-acceleration, constant-velocity, or stationary target. An extended Kalman filter is used to improve the noisy relative measurements and estimate the velocity of the moving target. These estimated values are used in the control laws to encircle constant-velocity moving targets. Lyapunov techniques are utilized to show that the vehicle will converge to the desired circular formations. Additionally, cooperating vehicles are shown to converge to a circular formation with equal temporal spacing using each vehicle’s estimate of the target’s velocity to define a common reference frame. Numerical simulations validate the efficacy of these control laws.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Encirclement of Moving Targets Using Noisy Range and Bearing Measurements


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    01.08.2022




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Optimal Encirclement Guidance

    Li, Hongyan / He, Shaoming / Wang, Jiang et al. | IEEE | 2022


    Encirclement of moving target using linear model predictive control via feedback linearization

    Hafez, A. T. / Iskandarani, M. / Givigi, S. N. et al. | IEEE | 2014


    Cooperative Multiple Target Encirclement via Platooning

    Kumar, Gautam / Ratnoo, Ashwini | AIAA | 2024


    Multi-UAV Cooperative Encirclement Strategy in Complex Environments

    Gu, Jian / Wang, Yin | Springer Verlag | 2025