Online mission planning for cooperative target tracking of marine vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2009

Authors

Bayat, M (Author) Other; Vanni, F (Author) Other; Pedro Aguiar, A (Author) Other

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 185-189

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

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

Indexing

ISI Web of Knowledge

Scopus - 0 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 5