IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v53y2022i6p1170-1190.html
   My bibliography  Save this article

Finite-time circumnavigation by irregular-shaped trajectory with bearing-only measurements

Author

Listed:
  • Zhoujian Ma
  • Yinya Li

Abstract

This paper investigates the problem of multiple agents circumnavigating group targets within finite time. Unlike most existing works in which agents can circumnavigate with a regular-shaped trajectory in the mission area, the problem of agents with an irregular-shaped trajectory in the area with obstacles is addressed in the paper. The agents can only obtain the bearing information of the targets. First, a scheme for establishing the group targets as an extended convex hull is presented. And the boundary of the extended convex hull is taken as the scheduled irregular-shaped trajectory. Then, a finite-time estimator is presented to localise the positions of the targets and their geometric centre. Afterward, a finite-time control protocol is proposed to drive agents along the irregular-shaped trajectory within finite time. Subsequently, an obstacle avoidance method is provided for agents to avoid obstacles on the path to the expected trajectory. Finally, simulation results validate the effectiveness of the theoretical results in this paper.

Suggested Citation

  • Zhoujian Ma & Yinya Li, 2022. "Finite-time circumnavigation by irregular-shaped trajectory with bearing-only measurements," International Journal of Systems Science, Taylor & Francis Journals, vol. 53(6), pages 1170-1190, April.
    • Handle: RePEc:taf:tsysxx:v:53:y:2022:i:6:p:1170-1190
    DOI: 10.1080/00207721.2021.1993379
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2021.1993379
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/00207721.2021.1993379?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:53:y:2022:i:6:p:1170-1190. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.