Bearing-only circumnavigation control of the multi-agent system around a moving target

摘要

The bearing-based coordinated circumnavigation control for networked multi-agent systems with only bearing measurements in the presence of moving target is studied. First, a distributed algorithm is proposed to estimate the target's velocity and the distances between the agents and the target, based on the velocity and the bearing information of the local network. Then, a distributed circumnavigation algorithm is designed to drive the agents to circumnavigate around a moving target at a desired distance. The stability of the proposed control algorithm is proven by employing the newly developed bearing rigidity theory. Finally, the simulation experiment is performed based on the Gazebo simulator to illustrate the effectiveness of the proposed circumnavigation control law.