Multi-target localisation and circumnavigation by a multi-agent system with bearing measurements in 2D space

JingPing Shao and Yu-Ping Tian

International Journal of Systems Science, 2018, vol. 49, issue 1, 15-26

Abstract: This paper investigates the problem of multi-target localisation and circumnavigation by a multi-agent system in two-dimensional space, where each target's bearing measurement can be obtained by at least one agent. Both stationary and slowly-moving targets are considered. An estimator is designed to estimate the target position; then a distributed estimation algorithm is designed for each agent to cooperatively estimate the centroid of multi-target; and finally, based on the first two steps, a circumnavigation controller is devised to guarantee that each agent circumnavigates all targets around the multi-target centroid with a desired radius. The convergence of the estimation algorithm and the stability of the circumnavigation controller are proved. A numerical simulation is provided to verify the correctness of the conclusion and the effectiveness of the proposed algorithm.

Date: 2018
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DOI: 10.1080/00207721.2017.1397803

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