A new bearing-only navigation law

This paper proposes a new bearing-only control law which can be used for autonomous navigation task. We firstly compare the proposed control law with a commonly used control law in the literature when the agent navigates with only one beacon. Second, we prove that if there are two or more beacons, the agent can almost globally asymptotically reaches the desired position under the proposed control law. Third, the proposed control law is then applied to a cooperative bearing-only navigation problem. Simulation result is given to support the mathematical analysis.