Online mission planning for cooperative target tracking of marine vehicles

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2009

Autores

Bayat, M (Autor) Outra; Vanni, F (Autor) Outra; Pedro Aguiar, A (Autor) Outra

Ata de Conferência Internacional

Título: IFAC Proceedings Volumes (IFAC-PapersOnline)

Páginas: 185-189

8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009

Guaruja (SP), 16 September 2009 through 18 September 2009

Indexação

ISI Web of Knowledge

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-007-ZMK

DOI: 10.3182/20090916-3-br-3001.0056

Abstract (EN): In the cooperative target tracking maneuvering a group of vehicles is required to follow a target while maintaining a desired formation in space. For that effect, the trajectory of the target has to be estimated (for example by one of the vehicles in formation), translated into mission codes (to save communication resources) and transmitted to the other vehicles. This paper addresses the online mission planning task of converting the absolute or relative position data available from the positioning system installed on the target (e.g. INS, GPS) into a set of lines and constant curvature arcs. Two algorithms are proposed: one using a polynomial fitting and a more complex one using an Interactive Multiple-Model Kalman filter. Simulation results using experimental data and a set of simulated data corrupted with noise and data loss are presented and discussed. © 2009 IFAC.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 5