TY - GEN
T1 - Bearing Measurement-based Circumnavigation of One Single Agent Under a GPS-Denied Environment
AU - Zhao, Di
AU - Geng, Qingbo
AU - Li, Jiazhen
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In this paper, a relative position estimator is designed to solve the problem of localization and circumnavigation of a stationary target by an agent, which achieves the estimation using the agent's velocity and its bearing measurements towards the target. Since the agent's own position is not required, it can be applied in GPS-denied environments. Also, a control law is designed to drive the agent around the target on a circular trajectory and ensures that the agent maintains a safe distance from the target throughout the circumnavigation. The corresponding convergence and stability analyses are then given. The proposed method is validated by simulation.
AB - In this paper, a relative position estimator is designed to solve the problem of localization and circumnavigation of a stationary target by an agent, which achieves the estimation using the agent's velocity and its bearing measurements towards the target. Since the agent's own position is not required, it can be applied in GPS-denied environments. Also, a control law is designed to drive the agent around the target on a circular trajectory and ensures that the agent maintains a safe distance from the target throughout the circumnavigation. The corresponding convergence and stability analyses are then given. The proposed method is validated by simulation.
KW - Bearing measurements
KW - Localization
KW - Safe circumnavigation
UR - http://www.scopus.com/inward/record.url?scp=85200374011&partnerID=8YFLogxK
U2 - 10.1109/CCDC62350.2024.10588028
DO - 10.1109/CCDC62350.2024.10588028
M3 - Conference contribution
AN - SCOPUS:85200374011
T3 - Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024
SP - 2818
EP - 2823
BT - Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 36th Chinese Control and Decision Conference, CCDC 2024
Y2 - 25 May 2024 through 27 May 2024
ER -