Distributed target localization and control of unicycle mobile agents with bearing measurements
Ziwen Yang, Shanying Zhu, Cailian Chen, Gang Feng, Xinping Guan · 2017
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 agentagent 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.