Circling over a target based on bearing-only measurement

Abstract

This paper considers the problem of guiding a single robot to achieve a circular motion around a target with only bearing information. We propose control schemes dealing with two situations where the robot is with constant forward speed or with constant angular velocity. By using the proposed control schemes, the robot can circle the unknown-position target at a desired radius only with the bearing measurements. Finally, simulations are carried out to verify the effectiveness of the proposed algorithms.