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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)
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
会议录名称Proceedings of the International Offshore and Polar Engineering Conference
出版者International Society of Offshore and Polar Engineers
出版地Cupertino, California
2014
页码429-435
收录类别EI
EI收录号20143718153552
产权排序1
ISSN号1098-6189
ISBN号978-1-88065-391-3
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
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15150
专题水下机器人研究室
通讯作者Wang YY(王艳艳)
作者单位1.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
推荐引用方式
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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