Anticipated trajectory based proportional navigation guidance scheme for intercepting high maneuvering targets
Most of the existing target tracking schemes based on proportional navigation guidance laws require information on target’s acceleration to device their tracking strategies. Acceleration is computed or estimated continuously at each step to guide the interceptor. However, computation of acceleration...
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Published in | International journal of control, automation, and systems Vol. 15; no. 3; pp. 1351 - 1361 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.06.2017
Springer Nature B.V 제어·로봇·시스템학회 |
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Abstract | Most of the existing target tracking schemes based on proportional navigation guidance laws require information on target’s acceleration to device their tracking strategies. Acceleration is computed or estimated continuously at each step to guide the interceptor. However, computation of acceleration is time consuming and often leads to inaccuracy, especially when the target is high maneuvering. Keeping this in view, a proportional navigation based guidance law for the interception of a high maneuvering target is presented that does not require estimation of the target’s acceleration to generate guidance command. The method is based on anticipating target’s trajectory using simple linear extrapolation and rotational correction. The interceptor predicts next position of the target and continuously adjusts its acceleration command to move towards the future position of the target. This simple modification not only helps in improving the time to intercept but also reduces number of target misses. Further, it is easier to implement for real time applications due to computational convenience. Performance of the method is compared with some of the most efficient navigation guidance laws with respect to the time taken in interception, distance traversed and the path followed by the interceptor. In addition, proof of convergence is provided. Simulation results are further verified through hardware implementation on wheeled mobile robots and results are quite encouraging. |
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AbstractList | Most of the existing target tracking schemes based on proportional navigation guidance laws requireinformation on target’s acceleration to device their tracking strategies. Acceleration is computed or estimated continuouslyat each step to guide the interceptor. However, computation of acceleration is time consuming and oftenleads to inaccuracy, especially when the target is high maneuvering. Keeping this in view, a proportional navigationbased guidance law for the interception of a high maneuvering target is presented that does not require estimationof the target’s acceleration to generate guidance command. The method is based on anticipating target’s trajectoryusing simple linear extrapolation and rotational correction. The interceptor predicts next position of the target andcontinuously adjusts its acceleration command to move towards the future position of the target. This simple modificationnot only helps in improving the time to intercept but also reduces number of target misses. Further, it iseasier to implement for real time applications due to computational convenience. Performance of the method iscompared with some of the most efficient navigation guidance laws with respect to the time taken in interception,distance traversed and the path followed by the interceptor. In addition, proof of convergence is provided. Simulationresults are further verified through hardware implementation on wheeled mobile robots and results are quiteencouraging. KCI Citation Count: 9 Most of the existing target tracking schemes based on proportional navigation guidance laws require information on target’s acceleration to device their tracking strategies. Acceleration is computed or estimated continuously at each step to guide the interceptor. However, computation of acceleration is time consuming and often leads to inaccuracy, especially when the target is high maneuvering. Keeping this in view, a proportional navigation based guidance law for the interception of a high maneuvering target is presented that does not require estimation of the target’s acceleration to generate guidance command. The method is based on anticipating target’s trajectory using simple linear extrapolation and rotational correction. The interceptor predicts next position of the target and continuously adjusts its acceleration command to move towards the future position of the target. This simple modification not only helps in improving the time to intercept but also reduces number of target misses. Further, it is easier to implement for real time applications due to computational convenience. Performance of the method is compared with some of the most efficient navigation guidance laws with respect to the time taken in interception, distance traversed and the path followed by the interceptor. In addition, proof of convergence is provided. Simulation results are further verified through hardware implementation on wheeled mobile robots and results are quite encouraging. |
Author | Padhy, Prabin Kumar Ojha, Aparajita Kumar, Amit |
Author_xml | – sequence: 1 givenname: Amit surname: Kumar fullname: Kumar, Amit email: amitku@iiitdmj.ac.in organization: Computer Science and Engineering Discipline, PDPM Indian Institute of Information Technology Design and Manufacturing Jabalpur – sequence: 2 givenname: Aparajita surname: Ojha fullname: Ojha, Aparajita organization: Computer Science and Engineering Discipline, PDPM Indian Institute of Information Technology Design and Manufacturing Jabalpur – sequence: 3 givenname: Prabin Kumar surname: Padhy fullname: Padhy, Prabin Kumar organization: Electronics and Communication Engineering Discipline, PDPM Indian Institute of Information Technology Design and Manufacturing Jabalpur |
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Keywords | wheeled mobile robot Proportional navigation robot motion planning target tracking |
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Snippet | Most of the existing target tracking schemes based on proportional navigation guidance laws require information on target’s acceleration to device their... Most of the existing target tracking schemes based on proportional navigation guidance laws require information on target's acceleration to device their... Most of the existing target tracking schemes based on proportional navigation guidance laws requireinformation on target’s acceleration to device their... |
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SubjectTerms | Acceleration Computer simulation Control Engineering Guidance (motion) Interception Maneuvering targets Mechatronics Navigation Proportional navigation Proving Regular Papers Robotics Robots Simulation Studies Tracking control systems Tracking devices 제어계측공학 |
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Title | Anticipated trajectory based proportional navigation guidance scheme for intercepting high maneuvering targets |
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