A variant of cyclic pursuit for target tracking applications: theory and implementation

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• 作者：Sangeeta Daingade ; Arpita Sinha ; Aseem Vivek Borkar ; Hemendra Arya
• 关键词：Cyclic pursuit ; Target tracking ; Micro aerial vehicles ; Multi ; agent system ; Cooperative control ; Hardware ; in ; loop simulation
• 刊名：Autonomous Robots
• 出版年：2016
• 出版时间：April 2016
• 年：2016
• 卷：40
• 期：4
• 页码：669-686
• 全文大小：7,427 KB
• 参考文献：Bakolas, E., & Tsiotras, P (2011). On the relay pursuit of maneuvering target by a group of pursuers, proceedings of the IEEE conference on decision and control and European control conference pp. 4270–4275.
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• 作者单位：Sangeeta Daingade (1)
  Arpita Sinha (1)
  Aseem Vivek Borkar (1)
  Hemendra Arya (2)
  
  1. Systems and Control Engineering Department, IIT Bombay, Mumbai, India
  2. Aerospace Engineering Department, IIT Bombay, Mumbai, India
  
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Automation and Robotics
  Electronic and Computer Engineering
  Computer Imaging, Vision, Pattern Recognition and Graphics
  Mechanical Engineering
  Simulation and Modeling
  
• 出版者：Springer Netherlands
• ISSN：1573-7527

文摘

This paper presents a variant of the cyclic pursuit strategy that can be used for target tracking applications. Cyclic pursuit has been extensively used in multi-agent systems for a variety of applications. In order to monitor a target point or to track a slowly moving vehicle, we propose to use a group of non-holonomic vehicles. At equilibrium, the vehicles form a rigid polygonal around the target while encircling it. Necessary conditions for the existence of equilibrium and the stability of equilibrium formations are analysed considering unicycle model of the vehicles. The strategy is then applied to miniature aerial vehicles (MAV) represented by 6-DOF dynamical model. Finally the results are verified in a hardware in-loop simulator in real time, which included all on-board electronics of the MAVs.