Minimum circle circumnavigation is proposed in this paper, which is of special value in target monitoring, capturing and/or attacking. In this paper, a safe minimum circle circumnavigation of multiple targets based on bearing measurements is studied. In contrast with the traditional circumnavigation problem, with the new pattern, one agent is able to enclose multiple targets along a minimum circle with the desired enclosing distance and tangential speed. To achieve the minimum circle circumnavigation, an algorithm including dynamic compensators and a control protocol is proposed, by which collision is avoided between the agent and the multiple targets during the whole moving process. Moreover, the control protocol developed for a single agent is further extended to the scenarios of multiple agents by adding a coordination mechanism into the tangential velocity term, which drives the agents to distribute evenly on each expected circular orbit with the same radius or different radius. Simulations results illustrate the effectiveness of the proposed methods.
翻译:本文件提出了最低环绕环绕图案,这是目标监测、捕捉和/或攻击的特殊价值。本文研究了基于测度的多个目标的安全最低环绕图案。与传统的环绕图案不同的是,与新的图案不同的是,一个物剂能够将多个目标沿一个最小圆环并附有所期望的内附距离和正切速度,沿一个最小圆环环绕图案附上多个目标。为了达到最小环绕图案,提出了一种算法,包括动态补偿器和控制规程,以此在整个移动过程中避免物剂与多个目标的碰撞。此外,为单一物剂开发的控制规程进一步扩展至多个物剂的假想情况,在正切速度术语中添加一个协调机制,促使物剂以同一半径或不同半径均衡地分布在每一个预期的圆形轨道上。模拟结果说明了拟议方法的有效性。