Finite time coverage tracking algorithm of maneuvering target by multiple mobile agents

Abstract

In this paper, a problem regarding how multiple mobile agents track a high-speed maneuvering target is considered. Due to the uncertainties of the target caused by the background noises, we use a dynamic non-uniform region to describe the location of target. Therefore, the cooperative tracking problem is transformed into a problem to cover a known dynamic non-uniform region. In order to capture the high-speed maneuvering target, the mobile agents with global sensing areas and limited actuation region are designed to track and cover the dynamic region. Also, the probability that the target appear in the circle is denoted by a probability density function and a performance index function is given to describe the effectiveness of covering a moving target. With observer-based estimation and dynamic formation control, a coverage tracking algorithm is proposed so that the group of agents catch the target by a coverage tracking policy in finite time.