Abstract

Target tracking using bearing-only measurement with UAV is extensively studied recently years because of its potential value in engineering applications. This brief revisits the problem about slowly moving target tracking using the target circumnavigation scheme. Instead of developing improved algorithm, we mainly present some new results for the typical circumnavigation algorithm in the literature. From a different perspective, the overall convergence analysis is conducted for the typical algorithm under the same conditions assumed in existing work, and it is found that the conclusion made in prior work is not accurate because of the implicity assumption. In this brief, we present a more accurate convergence analysis for the typical target circumnavigation algorithm, simultaneously giving the sufficient conditions for convergence or divergence. Simulation examples validates our results.