Target Tracking Systems on a Sphere With Topographic Information
研究了球面上带地形结构的目标跟踪问题，提出一个双积分器多智能体自主系统，利用地形信息作为摩擦影响速度和加速度，实现目标追踪与交会。
We consider the target tracking problem on a sphere with topographic structure. For a given moving target on the unit sphere, we suggest a double-integrator autonomous system of multiple agents that track the given target under the topographic influence. Through this dynamic system, we can obtain a control design for target tracking on the sphere and the adapted topographic data provides an efficient agent trajectory. The topographic information, described as a form of friction in the double-integrator system, affects the velocity and acceleration of the target and agents. The target information required by the tracking agents consists of position, velocity, and acceleration. We can obtain practical rendezvous results when agents utilize only target position and velocity information. If the acceleration data of the target is accessible, we can get the complete rendezvous result using an additional control term in the form of the Coriolis force. We provide mathematically rigorous proofs for these results and present numerical experiments that can be visually confirmed.