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

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 design...

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Bibliographic Details
Published in:International journal of systems science 2018-01, Vol.49 (1), p.15-26
Main Authors: Shao, JingPing, Tian, Yu-Ping
Format: Article
Language:English
Subjects:
Algorithms
bearing measurement
circumnavigation
Computer simulation
Control stability
Localisation
Localization
Moving targets
multi-agent system
Multiagent systems
Multiple target tracking
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Summary: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.
ISSN:0020-7721
1464-5319
DOI:10.1080/00207721.2017.1397803