Guidance Of A Nonholonomic Autonomous Agent For Coverage Applications

This paper addresses the problem of guiding a nonholonomic autonomous agent to cover a region surrounding a maneuvering target. The proposed control algorithm ensures area coverage in the target-centric frame. The coverage region is an annular ring centered around a maneuvering target. The region is defined by the maximum and minimum radii. The control law assumes complete information about the target. The agent follows a virtual agent to cover the designated area. The idea can be extended to a stationary target case. Lyapunov analysis has been done to establish stability. Simulations results for the proposed algorithm are presented.