A Max-Consensus Cyclic Pursuit Based Guidance Law for Simultaneous Target Interception

Benjamin Zadka; Twinkle Tripathy; Ronny Tsalik; Tal Shima

A Max-Consensus Cyclic Pursuit Based Guidance Law for Simultaneous Target Interception

Benjamin Zadka, Twinkle Tripathy, Ronny Tsalik, Tal Shima

Aerospace Engineering

Technion - Israel Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we consider the problem of simultaneous interception of a stationary target by a team of pursuers. The pursuers are assumed to be heterogeneous in terms of their linear speeds and are modelled with unicycle kinematics. The proposed guidance law implements a cyclic pursuit framework where every pursuer communicates only with its neighbour in a cyclic fashion. Target interception occurs simultaneously at minimum time by achieving max-consensus in the impact times of the pursuers. In order to drive the system towards the desired behaviour, a PI controller is designed which works even in the presence of heading errors. Various scenarios are illustrated in the paper through numerical simulations to validate the theoretical results.

Original language	English
Title of host publication	European Control Conference 2020, ECC 2020
Pages	662-667
Number of pages	6
ISBN (Electronic)	9783907144015
State	Published - May 2020
Event	18th European Control Conference, ECC 2020 - Saint Petersburg, Russian Federation Duration: 12 May 2020 → 15 May 2020

Publication series

Name	European Control Conference 2020, ECC 2020

Conference

Conference	18th European Control Conference, ECC 2020
Country/Territory	Russian Federation
City	Saint Petersburg
Period	12/05/20 → 15/05/20

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Decision Sciences (miscellaneous)
Control and Systems Engineering
Mechanical Engineering
Computational Mathematics
Control and Optimization

Cite this

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title = "A Max-Consensus Cyclic Pursuit Based Guidance Law for Simultaneous Target Interception",

abstract = "In this paper, we consider the problem of simultaneous interception of a stationary target by a team of pursuers. The pursuers are assumed to be heterogeneous in terms of their linear speeds and are modelled with unicycle kinematics. The proposed guidance law implements a cyclic pursuit framework where every pursuer communicates only with its neighbour in a cyclic fashion. Target interception occurs simultaneously at minimum time by achieving max-consensus in the impact times of the pursuers. In order to drive the system towards the desired behaviour, a PI controller is designed which works even in the presence of heading errors. Various scenarios are illustrated in the paper through numerical simulations to validate the theoretical results.",

author = "Benjamin Zadka and Twinkle Tripathy and Ronny Tsalik and Tal Shima",

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AU - Tsalik, Ronny

AU - Shima, Tal

PY - 2020/5

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AB - In this paper, we consider the problem of simultaneous interception of a stationary target by a team of pursuers. The pursuers are assumed to be heterogeneous in terms of their linear speeds and are modelled with unicycle kinematics. The proposed guidance law implements a cyclic pursuit framework where every pursuer communicates only with its neighbour in a cyclic fashion. Target interception occurs simultaneously at minimum time by achieving max-consensus in the impact times of the pursuers. In order to drive the system towards the desired behaviour, a PI controller is designed which works even in the presence of heading errors. Various scenarios are illustrated in the paper through numerical simulations to validate the theoretical results.

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M3 - منشور من مؤتمر

T3 - European Control Conference 2020, ECC 2020

SP - 662

EP - 667

BT - European Control Conference 2020, ECC 2020

T2 - 18th European Control Conference, ECC 2020

Y2 - 12 May 2020 through 15 May 2020

ER -

A Max-Consensus Cyclic Pursuit Based Guidance Law for Simultaneous Target Interception

Abstract

Publication series

Conference

All Science Journal Classification (ASJC) codes

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