Trajectory-Constrained Standoff Target Tracking using Barrier Lyapunov Functions
Ishir Roongta, Piyush Kumar, Twinkle Tripathy · 2024
In this paper, we propose a control law using a Barrier Lyapunov Function to stabilize the trajectory of an agent having unicycle kinematics on a circle while avoiding a pre-specified inner region. The initial position of the agent can be anywhere outside the circular boundary of the region to be avoided. We prove that by following the proposed control law the trajectory of the agent converges to the desired circle while avoiding the inner region. Furthermore, we also present the conditions on the controller gains which ensure convergence. All of these results have been illustrated through numerical simulations.