Target Tracking via a Circular Formation of Unicycles * * This work was supported by FUI CAP2018 and H2020-ICT-2014-1/GA 645141 WIMUST projects and ROBOTEX (ANR-10-EQPX-44-01)

摘要

This paper deals with the problem of encircling a moving target with a fleet of unicycle-like vehicles. A new control law is developed to steer the vehicles to a circular formation whose center tracks the target. The novelty of this paper lies in the fact that the control law only uses the velocity of the target and the relative positions of the agents with respect to it, expressed in the local frame of each vehicle. Communication between agents is used to maintain the vehicles equally spaced along the circular formation. Simulation results show the effectiveness of the proposed strategy.