Moving Target Circular Formation Control of Multiple Non-Holonomic Vehicles Without Global Position Measurements

摘要

This brief addresses the moving target enclosing problem for multiple non-holonomic vehicles without global position measurements. First, based on the designed distributed auxiliary systems, an auxiliary unit circle centered at the origin of the inertial frame is established under a directed graph. Thereafter, each vehicle is able to obtain its desired trajectory on the moving circle through the trajectory of the auxiliary system and a scaling function. Instead of using global position measurements, a relative position estimator is designed to estimate the relative position between each vehicle and the moving target. To proceed, a controller which is easier for practical implementation is designed. Finally, numerical simulation is conducted to validate the performance of the proposed controller.