两架无人机仅靠测距实现对逃逸目标的快速包围
Non-cooperative Stochastic Target Encirclement by Anti-synchronization Control via Range-only Measurement
- 基于测距构建位置估计算法，无需定位信号
- 设计分布式反同步控制器，确保双机快速围住目标
- 适用于无GPS、轻量级无人机的实战场景
本文研究真实环境下非合作运动目标的随机包围问题。与以往工作不同，目标具备主动逃逸能力，可短时加速至最大速度脱离包围圈。在极端环境（如无GPS、重量限制、缺乏地面引导）下，两个智能体仅依赖机载单模态测距设备获取目标距离信息。利用距离测量构造依赖目标位置的变量，建立位置估计器；进一步设计唯一分布式反同步控制算法（DASC），确保两智能体迅速跟踪并包围目标。通过李雅普诺夫方法严格验证估计器与控制器的收敛性。实验采用真实无人机平台验证方法性能，并提供模拟仿真与视频演示（https://youtu.be/JXu1gib99yQ）。
原文摘要 · Abstract (English)
This paper investigates the stochastic moving target encirclement problem in a realistic setting. In contrast to typical assumptions in related works, the target in our work is non-cooperative and capable of escaping the circle containment by boosting its speed to maximum for a short duration. Considering the extreme environment, such as GPS denial, weight limit, and lack of ground guidance, two agents can only rely on their onboard single-modality perception tools to measure the distances to the target. The distance measurement allows for creating a position estimator by providing a target position-dependent variable. Furthermore, the construction of the unique distributed anti-synchronization controller (DASC) can guarantee that the two agents track and encircle the target swiftly. The convergence of the estimator and controller is rigorously evaluated using the Lyapunov technique. A real-world UAV-based experiment is conducted to illustrate the performance of the proposed methodology in addition to a simulated Matlab numerical sample. Our video demonstration can be found in the URL https://youtu.be/JXu1gib99yQ.
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