A cooperative hunting strategy for mobile sensing agents based on bearings-only measurements
Huizhen Yang, Ruizhen Li · 2017
A cooperative hunting strategy for autonomous mobile sensing agents with bearings-only sensors hunting a moving target is proposed. First the target state is estimated by an Extended Kalman Filter (EKF)-based fusion algorithm with bearing measurements. Desired hunting points are configured around the target uniformly and negotiation mechanism is designed to assign each agent a desired hunting point. An optimal hunting orientation of each agent is designed by optimizing a cost function, which integrates the path consumption and the surrounding effectiveness. At last, a tracking control law is utilized to drive each agent to its desired hunting point. Simulation studies are conducted and the effectiveness of the proposed hunting strategy is verified.