Finite-time Localization and Circumnavigation by Elliptical Trajectory with Bearing-only Measurements

Abstract

This paper addresses the problem of circumnavigation with an elliptical trajectory for an unknown stationary target by a single agent. The agent can only access its own position and bearing information of the target. For localizing the position of the target, a three-dimensional estimator is designed for the target. Sequently, a controller is devised to employ the agent to travel along the prescribed trajectory within finite time. Finally, a numerical experiment is provided to illustrate the effectiveness of the approach.