Target localization and encirclement control for multi‐UAVs with limited information
Weizhen Wang, Xin Chen, Jiangbo Jia, Zaifei Fu
Abstract
Abstract The problem of localization and encirclement control of a moving target by multi unmanned aerial vehicles (UAVs) is considered in this paper. The main objective is to guide the UAVs to form evenly spaced formations along the circumference, with the centre of the circumference tracking the movement of the target. Firstly, each UAV is assumed only to obtain the bearing angle information of the target, for which an estimator is developed to localize the target by bearing measurements. Thereafter, a distributed encirclement control algorithm based on cooperative moving path following (CMPF) is designed to drive the multi‐UAVs to circumnavigate around a moving target at a desired distance, thus developing to pursue cooperatively. Finally, the simulation results demonstrate the effectiveness of the proposed method.