Target tracking of autonomous robotic vehicles using range-only measurements: A switched logic-based control strategy

摘要

This paper considers the pursuing or target tracking problem where an autonomous robotic vehicle is required to move towards a maneuvering target using range-only measurements. We propose a switched logic-based control strategy to solve the pursuing problem that can be described as comprising a continuous cycle of two distinct phases: (1) the determination of the bearing, and (2) the steering control of the vehicle to follow the direction computed in the previous step while the range is decreasing. We provide guaranteed conditions under which the switched closed-loop system achieves convergence of the relative distance error to a small neighborhood around zero. Simulation results are presented and discussed.