# Optimization-based Control for Bearing-only Target Search with a Mobile Vehicle

## TL;DR

This paper presents an optimization-based control method for a mobile vehicle to locate an unknown target using only bearing measurements, without relying on global position data, validated through simulations.

## Contribution

It introduces a bi-objective optimization framework that combines target estimation and vehicle control, enabling efficient target search without global positioning.

## Key findings

- Effective target approach demonstrated in simulations
- Controller does not require global position information
- Bi-objective optimization improves search performance

## Abstract

This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective optimization problem, which jointly considers the performance of estimating the unknown target position and controlling the mobile vehicle to a known position, and then adopt a weighted sum method with normalization to solve it. The controller is given based on the solution of the optimization problem in ties with a least-square estimate of the target position. Moreover, the controller does not need the vehicle's global position information. Finally, simulation results are included to validate the effectiveness of the proposed controller.