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题名: Optimal AUV trajectories for bearings-only target tracking and intercepting
作者: Wang YY(王艳艳) ; Liu KZ(刘开周) ; Feng XS(封锡盛)
作者部门: 水下机器人研究室
会议名称: 24th International Ocean and Polar Engineering Conference, ISOPE 2014 Busan
会议日期: June 15, 2014 - June 20, 2014
会议地点: Busan, Korea, Republic of
会议主办者: Daewoo Shipbuilding and Marine Engineering (DSME); et al.; ExxonMobil; Korea Research Institute of Ships and Ocean Engineering (KRISO); POSCO; SK Innovation
会议录: Proceedings of the International Offshore and Polar Engineering Conference
会议录出版者: International Society of Offshore and Polar Engineers
会议录出版地: Cupertino, California
出版日期: 2014
页码: 429-435
收录类别: EI
ISSN号: 1098-6189
ISBN号: 9781880653913
关键词: Automatic target recognition ; Cost functions ; Extended Kalman filters ; Target tracking ; Trajectories
摘要: In bearings-only tracking, the target motion analysis performance can be greatly enhanced by properly exploiting observer motion. In this paper, we present a probabilistic formulation of the problem to guarantee observability and to obtain an accurate estimate in order to intercept the target as soon as possible. Our method seeks to maximize cost function which comprehensive considered the distance between AUV and target, AUV course angle change rate and AUV speed change rate. Simulation shows that along the planned trajectory, the AUV can intercept the target, verifies the rationality of the proposed method. Copyright © 2014 by the International Society of Offshore and Polar Engineers (ISOPE).
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15150
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
王艳艳; 刘开周; 封锡盛.Optimal AUV trajectories for bearings-only target tracking and intercepting.见:International Society of Offshore and Polar Engineers.Proceedings of the International Offshore and Polar Engineering Conference,Cupertino, California ,2014,429-435
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文件名: Optimal AUV trajectories for bearings-only target tracking and intercepting.pdf
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