Target localization and circumnavigation using distance measurements in 2D
Yuxuan Jiang, Yingjing Shi, Rui Li · Journal of Industrial and Management Optimization · 2022
In this paper, we study the problem of circumnavigating an unknown target with only distance measurements. Because the target is unknown, it is necessary to locate the target before circumnavigation. In order to locate the target, we propose an angle estimator instead of estimating the position of the target directly, therefore the algorithm is simpler and with faster convergence. In order to perform the circumnavigation task, we develop a control protocol with a first-order filter to facilitate the practical application. We give strict theoretical analysis of the proposed theory, and verify the effectiveness of the algorithm through simulations.