Finite-time distributed localization and multi-orbit circumnavigation with bearing-only measurements

• Published in: Journal of the Franklin Institute Vol. 360; no. 10; pp. 6712 - 6735
• Main Authors: Ma, Zhoujian, Li, Yinya, Qi, Guoqing, Sheng, Andong
• Format: Journal Article
• Language: English
• Published: Elsevier Inc 01.07.2023
• ISSN: 0016-0032; 1879-2693
• DOI: 10.1016/j.jfranklin.2023.04.012

This paper investigates the localization and circumnavigation problem of a stationary target by multiple agents with multi-orbit within finite time. The agents can only obtain their own positions and the bearing information of the target. They are required to travel along their prescribed trajectories in three-dimensional (3-D) space and circumnavigate the target. First, a novel finite-time distributed positional estimator, using bearing-only measurements, is developed for agents to localize the target. Afterward, with the estimate of the target position, a distributed control law is designed to steer the agents to circumnavigate the target on different orbits with any preconcerted angular spacing distribution pattern within finite time. Simultaneously, the corresponding stability and convergence analyses are presented. Finally, simulation results are provided to demonstrate the effectiveness of the theoretical results.