2-D distributed pose estimation of multi-agent systems using bearing measurements

This article studies distributed pose(orientation and position)estimation of leader–follower multi-agent systems over𝜅-layer graphs in 2-D plane.Only the leaders have access to their orientations and positions,while the followers can measure the relative bearings or(angular and linear)velocities in their unknown local coordinate frames.For the orientation estimation,the local relative bearings are used to obtain the relative orientations among the agents,based on which a distributed orientation estimation algorithm is proposed for each follower to estimate its orientation.For the position estimation,the local relative bearings are used to obtain the position constraints among the agents,and a distributed position estimation algorithm is proposed for each follower to estimate its position by solving its position constraints.Both the orientation and position estimation errors converge to zero asymptotically.A simulation example is given to verify the theoretical results.

Leader-Following Entrapping Control of AUVs Using Bearing Measurements in Local Coordinate Frames

In this paper,the entrapping control problem of discrete-time AUVs with local coordinate frames is studied.To achieve entrapment in arbitrarily shaped orbits and formations,we design a bearingbased leader-following framework fully in the discrete-time domain with four parts:the orientation estimation unit,estimator unit,controller unit and parameters tuning unit.With bearing measurements and communication information,the orientation estimation unit can estimate orientations of local coordinate frames infinite time,and the estimator unit can achieve local localization.Based on estimation,the controller unit can drive each AUV to track the desired orbit or formation with an arbitrary shape.We present su±cient conditions under which stability of the overall system is proved using the theorem offinite-time stability and LaSalle's theorem for the discrete-time system.Moreover,the parameters tuning unit can calculate optimal parameters to improve overall performance.Additionally,we extend our schemes to nonholonomic AUVs with unicycle models.Finally,simulation results demonstrate the effectiveness of the proposed scheme.

Research on localization algorithm of naval vessel for submarine based on bearing-range measurements

Combined with naval vessel practical antisubmarine equipment of towed linear array sonar,a mathematical model of naval vessel localization for submarine based on bearing measurement was built,and localization algorithm was given to solve submarine movement parameters.Localizaiton errors were analyzed.Based on localization model and algorithm,simulations were done to study the effect of factors such as initial distance between submarine and the naval vessel,submarine initial bearing angle measured by the naval vessel and submarine course on localization performance,and then simulation results were given and analyzed.The results have practical value to instruct real antisubmarine.Simulation results show that different target movement situations have great influence on sonar detection and localization performance,so the reasonable choice of sonar position and detection bearing according to the target movement situation can improve sonar detection and localization performance to some degree.

ALTERABLE INTERVAL OPTICALELECTRONIC AUTOCOLLIMATION METHOD FOR STRAIGHTNESS MEASUREMENT OF PRECISION GUIDE

Optical-electronic autocollimation method is commonly used to measure straightness of precision guides in engineering application. However, the traditional fixed interval optical-electronic autocollimation method is not suitable for measuring straightness of an air-bearing guide with a long air-bearing bush or a precision straight guide with a long slide-carriage, because the air-bearing bush and the slidecarriage are actually taken as a big bridgeboard bigger than the length of the bridgeboard with the reflector, which is about 1/4-1/2 of total length of the measured guide. If straightness is measured according to the traditional method, only a few points are sampled so that the guide straightness can not be evaluated fully or accurately. In order to solve the problem, an alterable measuring interval method is proposed for straightness measurement based on analyzing the mutual relations and effects among the tilting angle of the reflector, the length of the bridgeboard, the measuring interval and the straightness of the guide. A straightness calculation model is also developed using the method, and the errors stemming from the method proposed are introduced in brief. A precision air-bearing guide with a long air-bearing bush is measured and evaluated using the method proposed, and the actual measurement and evaluation results prove that the method is correct in theory and practical in operation. The method proposed gives an effective and flexible solution to the straightness measurement of the precision guide with long slide-carriage or air-bearing bush in application. It is an extension of the traditional optical-electronic autocollimation method for straightness measurement.

Failure mechanism of Mesozoic soft rock roadway in Shajihai coal mine and its surrounding rock control

In view of the buckling failure caused by large deformation of Mesozoic soft rock roadway in Shajihai mining area, such as serious roof fall, rib spalling, floor heave, etc., based on the detail site investigation,theoretical analysis, mineral composition test, microstructure test, water-physical property test and field experiments were carried out. And we revealed the compound failure mechanism of Mesozoic soft rock roadway in Shajihai mining area, namely the molecule expansion-shear slip of weak structural plane-construction disturbance. On this basis, the coupling support technology whose core is constant resistance with large deformation bolt was proposed. The feature of this supporting technology is that a new type of structural composite material was used, which makes the supporting system not only has the ideal deformation characteristics, but also has high supporting resistance. Thus the fully release of plastic energy within surrounding rock and reasonable control of the thickness of the plastic ring were realized. Then the differential deformation between the surrounding rock and support was eliminated by the secondary coupling support of bolt–mesh–cable, and the bolt with high strength was applied in the base angle to control floor. Eventually the collaborative bearing system of surrounding rock–support was formed. Through field tests the validity and rationality of support was also verified.

Distributed bearing-based formation control of unmanned aerial vehicle swarm via global orientation estimation

Most existing formation control approaches for Unmanned Aerial Vehicle(UAV)swarm assume that global position and global coordinate frame are directly available for each agent.To extend the application domain,this paper proposes a distributed bearing-based formation control scheme,without any reliance on global position or global coordinate frame.The interactions among UAVs are described by a directed topology with two-leader structure.To address the issue of unavailable global coordinate frame,we first present a distributed orientation estimation law for each UAV to determine its orientation under the coordinate frame of the first leader.Based on the orientation estimation,we then design a bearing-based formation control law to globally asymptotically track target moving formations.Finally,simulation results are provided to validate the proposed method,which show that the translation,scale and orientation of the formation can be flexibly controlled via two leaders.