Target localization and circumnavigation using bearing measurements in 2D
Target localization and circumnavigation using bearing measurements in 2D
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DOI：
10.1109/cdc.2010.5717795
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发表时间：
2010-12
期刊：
影响因子：
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通讯作者：
M. Deghat;I. Shames;B. Anderson;Changbin Yu
中科院分区：
文献类型：
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作者：
M. Deghat;I. Shames;B. Anderson;Changbin Yu
利用已知的目标方位和目标方位角，研究了未知速度慢漂目标的定位和绕航问题。我们首先假设目标是静止的，并提出了一个定位目标的估计器和一个控制律，该律迫使智能体围绕目标沿圆形轨迹运动，从而使估计器和控制系统都是指数稳定的。然后研究目标可能经历缓慢但可能稳定的运动的情况。
This paper considers the problem of localization and circumnavigation of a slowly drifting target with unknown speed using the agent's known position and the bearing angle of the target. We first assume that the target is stationary and propose an estimator to localize the target and a control law that forces the agent to move on a circular trajectory around the target such that both the estimator and the control system are exponentially stable. Then the case where the target might experience slow but possibly steady movement is studied.