Encirclement Of Moving Targets Using Relative Range And Bearing Measurements
2019 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS' 19)(2019)
摘要
This paper presents a controller that uses relative range and bearing measurements to steer unmanned aerial vehicles (UAVs) to circular trajectories around a constant velocity target. Estimates of the range rate and angular rate to the target are used to improve the error in the range and bearing. For moving targets, their velocity is also estimated and used in the control law. Theoretical proofs using Lyapunov theory for stationary targets and feedback linearization for moving targets are provided. Numerical simulations show vehicles converging to circular formations around both stationary and moving targets.
更多查看译文
关键词
constant velocity target,range rate,moving targets,stationary targets,relative range,bearing measurements,unmanned aerial vehicles,control law,Lyapunov theory,feedback linearization,circular formations
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要