Abstract
This paper deals with cooperative Target-enclosing problem by swarms of vehicles. First, we introduce Closed-Loop Inverse Kinematics(CLIK) which is utilized for control law. Second, we define two control objectives. One is to enclose a target in regular polygon and the other is to close up the traveling direction of a moving target. To achieve control objectives, we design several tasks and they are connected by Null-Space-based Behavioral(NSB) control. Then, we analyze the convergence of Target-enclosing behavior by Lyapunov Stability Theorem. Finally, simulation and experimental results show our effectiveness of the proposed method.
