Distributed control for multi-target surveillance using limit cycle

In this paper, we propose a control law that makes multiple non-holonomic vehicles converge to a limit cycle with the same relative phase angle. All the agents use information on only their neighbors with which they can communicate. An adjacency matrix is used to represent the connectivity among the agents. With the phase portrait of the limit cycle and the heading angles of the vehicles, we derive the control law to make the vehicles move toward the limit cycle, and using information of neighbor's we derived control input to make vehicles have the same relative phase angle. The potential field method is used for collision avoidance. The effectiveness of the proposed control law is shown using computer simulations.