A priority-driven optimal guidance approach to moving target tracking for safe navigation in a narrow space

This paper presents an 'optimally designed' anti-collision trajectory plan suitable for moving target tracking in narrow spaces like corridors, aisles, etc. Narrow spaces constitute of highly constrained reachable states in the context of dynamic motion. Tracking is the default mode, while...

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Bibliographic Details
Published inInternational journal of systems science Vol. 53; no. 1; pp. 138 - 153
Main Authors Biswas, Karnika, Kar, Indrani, Feron, Eric
Format Journal Article
LanguageEnglish
Published Taylor & Francis 02.01.2022
Subjects
equality constraints
Moving target tracking
obstacle avoidance
optimal
safe navigation
smooth switching control
tracking controller
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Summary:This paper presents an 'optimally designed' anti-collision trajectory plan suitable for moving target tracking in narrow spaces like corridors, aisles, etc. Narrow spaces constitute of highly constrained reachable states in the context of dynamic motion. Tracking is the default mode, while the safe trajectory is triggered on a priority-basis. The optimal switching point plays a key role in preventing a possible collision due to a 'mis-timed' change of manoeuvre, in case the obstacle shows unanticipated motion. Moreover, it also ensures that tracking is resumed at a point which minimises tracking error under the said deviation from the desired path. A smoothening filter has been proposed to make seamless transitions at the switching points.
ISSN:0020-7721
1464-5319
DOI:10.1080/00207721.2021.1941395