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arXiv · 1908.00380

Optimization-based Control for Bearing-only Target Search with a Mobile Vehicle

Zhuo Li·Keyou You·Shiji Song·Anke Xue
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Abstract

This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective optimization problem, which jointly considers the performance of estimating the unknown target position and controlling the mobile vehicle to a known position, and then adopt a weighted sum method with normalization to solve it. The controller is given based on the solution of the optimization problem in ties with a least-square estimate of the target position. Moreover, the controller does not need the vehicle's global position information. Finally, simulation results are included to validate the effectiveness of the proposed controller.

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Zhuo Li, Keyou You, Shiji Song, Anke Xue. 2019-08-01. Optimization-based Control for Bearing-only Target Search with a Mobile Vehicle. https://arxiv.org/abs/1908.00380

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