论文标题
椭圆坐标中的协作目标跟踪：双眼协调方法
Collaborative Target Tracking in Elliptic Coordinates: a Binocular Coordination Approach
论文作者
论文摘要
本文集中于具有地层限制的一对跟踪车辆的协作目标跟踪控制。所提出的控制器只需要跟踪车辆和目标之间的距离测量。 Its novelty lies in two aspects: 1) the elliptic coordinates are used to represent an arbitrary tracking formation without singularity, which can be deduced from inter-agent distances, and 2) the regulation of the tracking vehicle system obeys a binocular coordination principle, which simplifies the design of the control law by leveraging rich physical meanings of elliptic coordinates.事实证明，带有建议控制器的跟踪系统在目标固定时被指数收敛。当目标以较小的速度漂移时，所需的跟踪形成的边缘与目标漂移速度的幅度成正比成正比。提供了仿真示例，以证明所提出的控制器的跟踪性能。
This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measurements between tracking vehicles and the target. Its novelty lies in two aspects: 1) the elliptic coordinates are used to represent an arbitrary tracking formation without singularity, which can be deduced from inter-agent distances, and 2) the regulation of the tracking vehicle system obeys a binocular coordination principle, which simplifies the design of the control law by leveraging rich physical meanings of elliptic coordinates. The tracking system with the proposed controller is proven to be exponentially convergent when the target is stationary. When the target drifts with a small velocity, the desired tracking formation is achieved within a small margin proportional to the magnitude of the target's drift velocity. Simulation examples are provided to demonstrate the tracking performance of the proposed controller.
