Formation tracking of multi-agent systems with bearing-only measurement

Author

Han, Liang ; Tan, Qingke ; Dong, Xiwang ; Li, Qingdong ; Ren, Zhang

Author_Institution

School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, 100191, China

fYear

2015

fDate

28-30 July 2015

Firstpage

7124

Lastpage

7129

Abstract

In this paper, a bearing-only formation tracking problem for leader-follower multi-agent systems is investigated, where followers track the leader according to the bearing-only measurement while forming a formation with respect to the leader. A formation tracking strategy is proposed based on a consensus-based formation protocol and a consensus-based distributed extended information filter (CDEIF). Sufficient conditions for multi-agent systems with bearing-only measurement to achieve formation tracking are presented. Numerical examples are given to demonstrate the effectiveness of the proposed strategy, which include comparative examples to show the effectiveness of CDEIF, extended information filter (EIF) and distributed extended information filter (DEIF).

Keywords

Estimation; Kalman filters; Kinematics; Multi-agent systems; Noise; Protocols; Target tracking; Bearing-only; Consensus-based distributed extended information filter; Formation tracking; Leader-follower;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2015 34th Chinese

Conference_Location

Hangzhou, China

Type

conf

DOI

10.1109/ChiCC.2015.7260767

Filename

7260767