In the literature, several variants of the conventional cyclic pursuit law have been discussed. In this paper, one such variant, a modified heterogeneous cyclic pursuit scheme, has been proposed to capture a moving target. As a special case, when the target is stationary, the problem of capturing the target becomes the same as the rendezvous problem. The control laws proposed here ensure that such fixed targets (points) can always be collectively captured (reached) and a maneuvering target can be captured, provided that the agents can rendezvous at its initial position. Agents with double-integrator dynamics have also been considered, and a suitable cyclic pursuit law has been proposed to ensure global reachability and target capturability for bounded target maneuver. The theoretical findings are backed by simulation results.
Target Capturability Using Agents in Cyclic Pursuit
Journal of Guidance, Control, and Dynamics ; 39 , 5 ; 1034-1045
2016-02-17
12 pages
Article (Journal)
Electronic Resource
English
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