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

作者：Shaoheng Chun, Yu‐Ping Tian · 发表于：International Journal of Robust and Nonlinear Control · 年份：2020 · 被引用次数：69 · 研究领域：Distributed Control Multi-Agent Systems、Target Tracking and Data Fusion in Sensor Networks、Distributed Sensor Networks and Detection Algorithms

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.