On Finite-Time Multi-Target Localization and Circumnavigation Control Using Bearing Measurements

For circumnavigation control of a multi-UAV system with multiple static targets, this paper proposes a bearing measurement based target localization and circumnavigation control algorithm to ensure that the multi-UAV system can realize the target localization and circumnavigation in finite time. First, we design a bearing measurement based finite-time localization algorithm to compute the position of each target. Subsequently, we propose a distributed finite-time circumnavigation control algorithm for the multi-UAV system to realize a uniformly distributed circumnavigation for multiple targets. Finally, numerical simulation experiment verifies the effectiveness of the proposed control algorithm.