Enclose a Target with Multiple Nonholonomic Agents

In this paper, an algorithm on circular circumnavigation of nonholonomic agents is proposed. The agents are required to enclose a static target with predefined radius and circumferential speed. The algorithm completely relies on local bearing angle measurement. Cyclic pursuit is adapted to coordinate the agents and generate an even formation at the circle. Theoretical analysis on the stability of algorithm is given. The applicability and effectiveness of the algorithm is testified with simulations on the unmanned surface vessel (USV) platform.

[1]  Satyandra K. Gupta,et al.  Model-predictive asset guarding by team of autonomous surface vehicles in environment with civilian boats , 2015, Auton. Robots.

[2]  Yaonan Wang,et al.  Cooperative circumnavigation of a moving target with multiple nonholonomic robots using backstepping design , 2017, Syst. Control. Lett..

[3]  Arijit Sen,et al.  Circumnavigation on Multiple Circles Around a Nonstationary Target With Desired Angular Spacing , 2021, IEEE Transactions on Cybernetics.

[4]  Lu Liu,et al.  Distributed circular formation control of ring-networked nonholonomic vehicles , 2016, Autom..

[5]  Brian D. O. Anderson,et al.  Localization and Circumnavigation of a Slowly Moving Target Using Bearing Measurements , 2014, IEEE Transactions on Automatic Control.

[6]  Toshiharu Sugie,et al.  Cooperative control for target-capturing task based on a cyclic pursuit strategy , 2007, Autom..

[7]  Brian D. O. Anderson,et al.  Target localization and circumnavigation using bearing measurements in 2D , 2010, 49th IEEE Conference on Decision and Control (CDC).

[8]  Enrico Simetti,et al.  Towards the Use of a Team of USVs for Civilian Harbour Protection: USV Interception of Detected Menaces , 2010 .

[9]  Jin Zhao,et al.  Collective Dynamics and Control for Multiple Unmanned Surface Vessels , 2019, IEEE Transactions on Control Systems Technology.

[10]  Gang Feng,et al.  Distributed Circular Formation Control of Nonholonomic Vehicles Without Direct Distance Measurements , 2018, IEEE Transactions on Automatic Control.

[11]  Yuanchang Liu,et al.  A survey of formation control and motion planning of multiple unmanned vehicles , 2018, Robotica.

[12]  Brian D. O. Anderson,et al.  Target localization and circumnavigation by a non-holonomic robot , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Lincheng Shen,et al.  Bearing-only circumnavigation control of the multi-agent system around a moving target , 2019 .

[14]  Karl Henrik Johansson,et al.  Nonlinear Consensus Protocols With Applications to Quantized Communication and Actuation , 2019, IEEE Transactions on Control of Network Systems.

[15]  Joachim L. Grenestedt,et al.  LORCA: A high performance USV with applications to surveillance and monitoring , 2015, 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR).

[16]  E.T. Steimle,et al.  Unmanned Surface Vehicles as Environmental Monitoring and Assessment Tools , 2006, OCEANS 2006.

[17]  Lu Liu,et al.  Target localization and enclosing control for networked mobile agents with bearing measurements , 2020, Autom..

[18]  Mireille E. Broucke,et al.  Formations of vehicles in cyclic pursuit , 2004, IEEE Transactions on Automatic Control.

[19]  Karl Henrik Johansson,et al.  Cooperative decentralised circumnavigation with application to algal bloom tracking , 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).