Abstract
This paper investigates the problem of multiple agents circumnavigating group targets within finite time. Unlike most existing works in which agents can circumnavigate with a regular-shaped trajectory in the mission area, the problem of agents with an irregular-shaped trajectory in the area with obstacles is addressed in the paper. The agents can only obtain the bearing information of the targets. First, a scheme for establishing the group targets as an extended convex hull is presented. And the boundary of the extended convex hull is taken as the scheduled irregular-shaped trajectory. Then, a finite-time estimator is presented to localise the positions of the targets and their geometric centre. Afterward, a finite-time control protocol is proposed to drive agents along the irregular-shaped trajectory within finite time. Subsequently, an obstacle avoidance method is provided for agents to avoid obstacles on the path to the expected trajectory. Finally, simulation results validate the effectiveness of the theoretical results in this paper.
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