Open AccessTarget localization and encirclement control for multi‐UAVs with limited information
Author(s) -
Wang Weizhen,
Chen Xin,
Jia Jiangbo,
Fu Zaifei
Publication year - 2022
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12314
Subject(s) - bearing (navigation) , estimator , tracking (education) , control theory (sociology) , path (computing) , computer science , control (management) , trajectory , real time computing , artificial intelligence , mathematics , physics , psychology , pedagogy , statistics , astronomy , programming language
The problem of localization and encirclement control of a moving target by multi unmanned aerial vehicles (UAVs) is considered in this paper. The main objective is to guide the UAVs to form evenly spaced formations along the circumference, with the centre of the circumference tracking the movement of the target. Firstly, each UAV is assumed only to obtain the bearing angle information of the target, for which an estimator is developed to localize the target by bearing measurements. Thereafter, a distributed encirclement control algorithm based on cooperative moving path following (CMPF) is designed to drive the multi‐UAVs to circumnavigate around a moving target at a desired distance, thus developing to pursue cooperatively. Finally, the simulation results demonstrate the effectiveness of the proposed method.