Title: Versatile formation patterns for cooperative target tracking using ground vehicles

Authors: Lili Ma

Addresses: Department of Computer Engineering Technology, CUNY – New York City College of Technology, Brooklyn, NY 11201, USA

Abstract: In this paper, we investigate the cooperative target tracking problem using a group of autonomous mobile robots. By introducing a tracking control component to existing pursuit-based formation schemes, it is possible to achieve simultaneous tracking and formation in versatile concentric formations. Balanced circular formations can now be achieved with a prescribed formation radius. Elliptical formations with a variety of orientations and shapes can be achieved by applying a transformation matrix. To address the practical issue of obstacle avoidance, a repellent vector field technique is used, which prevents agents from approaching obstacles. Tracking, formation, and avoidance are combined to provide a more comprehensive solution for cooperative target tracking. The models considered include both single-integrator and double-integrator robots. MATLAB simulations are used to demonstrate the effectiveness of the proposed schemes.

Keywords: cooperative target tracking; balanced circular formation; prescribed formation radius; elliptical formation; obstacle avoidance.

DOI: 10.1504/IJCVR.2023.130647

International Journal of Computational Vision and Robotics, 2023 Vol.13 No.3, pp.285 - 303

Received: 15 Jul 2021
Accepted: 23 Feb 2022
Published online: 02 May 2023 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article