Encirclement of Moving Targets using Relative Range and Bearing Measurements

Abstract

This paper presents a controller that uses relative range and bearing measurements to steer unmanned aerial vehicles (UAVs) to circular trajectories around a constant velocity target. Estimates of the range rate and angular rate to the target are used to improve the error in the range and bearing. For moving targets, their velocity is also estimated and used in the control law. Theoretical proofs using Lyapunov theory for stationary targets and feedback linearization for moving targets are provided. Numerical simulations show vehicles converging to circular formations around both stationary and moving targets.