Journal article

Localization and Circumnavigation of a Slowly Moving Target Using Bearing Measurements

Mohammad Deghat, Iman Shames, Brian DO Anderson, Changbin Yu

IEEE Transactions on Automatic Control | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2014


The problem of localization and circumnavigation of a slowly moving target with unknown speed has been considered. The agent only knows its own position with respect to its initial frame, and the bearing angle to the target in that frame. We propose an estimator to localize the target and a control law that forces the agent to move on a circular trajectory around the target such that both the estimator and the control system are exponentially stable. We consider two different cases where the agent's speed is constant and variable. The performance of the proposed algorithm is verified through simulations. © 1963-2012 IEEE.


Awarded by Australian Research Council

Awarded by Queen Elizabeth II Fellowship

Funding Acknowledgements

This work was supported by the Australian Research Council through DP-130103610, a Queen Elizabeth II Fellowship under DP-110100538, the Overseas Expert Program of Shandong Province, the University of Melbourne through an Early Career Researcher grant and the McKenzie fellowship, the NICTA, which is funded by the Australian Government as represented by the Department of Broadband, Communications and the Digital Economy and the Australian Research Council through the ICT Centre of Excellence program. Recommended by Associate Editor L. Mirkin.