Distributed Target Localization and Control of Unicycle Mobile Agents with Bearing Measurements

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review

1 Scopus Citations
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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationProceedings 2017 Chinese Automation Congress (CAC)
Subtitle of host publication2017 Chinese Automation Congress (CAC)
PublisherInstitute of Electrical and Electronics Engineers, Inc.
Pages1085-1090
ISBN (electronic)9781538635247
ISBN (print)9781538635254
Publication statusPublished - Oct 2017

Conference

Title2017 Chinese Automation Congress (CAC 2017)
PlaceChina
CityJinan
Period20 - 22 October 2017

Abstract

In this paper, we propose an approach to distributed localization and motion control of unicycle mobile agents for the target circumnavigation problem. The bearing angle measurement-based localization performs when not all the agents get access to the target, but its performance is decided by the motion behaviors, and vice versa. Therefore we propose a coupled framework where we estimate the relative coordinate of agent-agent and agent-target in local reference frame at the localization layer, and then design the control strategy for agents to flock to the estimated target, for finally circumnavigate in a formation, with only the bearing angle measurements. Simulation results have shown that target localization based control algorithm can reach the convergence.

Citation Format(s)

Distributed Target Localization and Control of Unicycle Mobile Agents with Bearing Measurements. / Yang, Ziwen; Zhu, Shanying; Chen, Cailian et al.
Proceedings 2017 Chinese Automation Congress (CAC) : 2017 Chinese Automation Congress (CAC) . Institute of Electrical and Electronics Engineers, Inc., 2017. p. 1085-1090.

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review