Safe-circumnavigation of Multiple Non-stationary Targets with Bearing-only Measurements

This paper considers the safe-circumnavigation problem of multiple targets using only bearing measurements. We first assume the targets are non-stationary and introduce a position estimator to localize the targets and a control protocol to guarantee the agent moves on the circular trajectory around the targets. Then the specific movement velocity of the targets is studied to ensure circumnavigation. In order to prevent collision and make the bearing angles meaningful, we propose several preconditions to keep the agent and the targets in safe distance. Finally, the performance of the propose algorithms is verified through simulations.