TY - GEN
T1 - Vision-based cyclic pursuit for cooperative target tracking
AU - Ma, Lili
AU - Hovakimyan, Naira
PY - 2011
Y1 - 2011
N2 - In this paper, we study the problem of cooperative target tracking among a group of ground robots. Cooperative target tracking control laws are presented that achieve tracking of a moving target with known position, velocity, and acceleration, for both single-integrator and double-integrator robot models. When the target's motion information are unknown constant, vision-based estimation schemes are applied to obtain estimates of the target's position and velocity. The effectiveness of the proposed control laws and their vision-based counterparts to achieve desired formations is demonstrated by numerical simulation examples using nonholonomic robots.
AB - In this paper, we study the problem of cooperative target tracking among a group of ground robots. Cooperative target tracking control laws are presented that achieve tracking of a moving target with known position, velocity, and acceleration, for both single-integrator and double-integrator robot models. When the target's motion information are unknown constant, vision-based estimation schemes are applied to obtain estimates of the target's position and velocity. The effectiveness of the proposed control laws and their vision-based counterparts to achieve desired formations is demonstrated by numerical simulation examples using nonholonomic robots.
KW - Cooperative target tracking
KW - cyclic pursuit
KW - moving target
KW - vision-based estimation
UR - http://www.scopus.com/inward/record.url?scp=80053167275&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80053167275&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:80053167275
SN - 9781457700804
T3 - Proceedings of the American Control Conference
SP - 4616
EP - 4621
BT - Proceedings of the 2011 American Control Conference, ACC 2011
T2 - 2011 American Control Conference, ACC 2011
Y2 - 29 June 2011 through 1 July 2011
ER -