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Optimal AUV trajectories for bearings-only target tracking and intercepting
Wang YY(王艳艳); Liu KZ(刘开周); Feng XS(封锡盛)
Department水下机器人研究室
Conference Name24th International Ocean and Polar Engineering Conference, ISOPE 2014 Busan
Conference DateJune 15, 2014 - June 20, 2014
Conference PlaceBusan, Korea, Republic of
Author of SourceDaewoo Shipbuilding and Marine Engineering (DSME); et al.; ExxonMobil; Korea Research Institute of Ships and Ocean Engineering (KRISO); POSCO; SK Innovation
Source PublicationProceedings of the International Offshore and Polar Engineering Conference
PublisherInternational Society of Offshore and Polar Engineers
Publication PlaceCupertino, California
2014
Pages429-435
Indexed ByEI
EI Accession number20143718153552
Contribution Rank1
ISSN1098-6189
ISBN978-1-88065-391-3
KeywordAutomatic Target Recognition Cost Functions Extended Kalman Filters Target Tracking Trajectories
Abstract

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).

Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15150
Collection水下机器人研究室
Corresponding AuthorWang YY(王艳艳)
Affiliation1.Department of Ocean Technology Research and Development, Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, Liaoning, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Wang YY,Liu KZ,Feng XS. Optimal AUV trajectories for bearings-only target tracking and intercepting[C]//Daewoo Shipbuilding and Marine Engineering (DSME); et al.; ExxonMobil; Korea Research Institute of Ships and Ocean Engineering (KRISO); POSCO; SK Innovation. Cupertino, California:International Society of Offshore and Polar Engineers,2014:429-435.
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