Road-map-assisted standoff tracking of moving ground vehicle using nonlinear model predictive control

dc.contributor.authorOh, Hyondong
dc.contributor.authorKim, Seungkeun
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2016-03-08T16:03:28Z
dc.date.available2016-03-08T16:03:28Z
dc.date.issued2015-04-30
dc.description.abstractThis paper presents road-map-assisted standoff tracking of a ground vehicle using nonlinear model predictive control. In model predictive control, since the prediction of target movement plays an important role in tracking performance, this paper focuses on utilizing road-map information to enhance the estimation accuracy. For this, a practical road approximation algorithm is first proposed using constant curvature segments, and then nonlinear road-constrained Kalman filtering is followed. To address nonlinearity from road constraints and provide good estimation performance, both an extended Kalman filter and unscented Kalman filter are implemented along with the state-vector fusion technique for cooperative unmanned aerial vehicles. Lastly, nonlinear model predictive control standoff tracking guidance is given. To verify the feasibility and benefits of the proposed approach, numerical simulations are performed using realistic car trajectory data in city traffic.en_UK
dc.identifier.citationHyondong Oh, Seungkeun Kim and Antonios Tsourdos, Road-map-assisted standoff tracking of moving ground vehicle using nonlinear model predictive control. IEEE Transactions on Aerospace and Electronic Systems, 2015, Vol. 51, Iss. 2, pp975-986en_UK
dc.identifier.issn0018-9251
dc.identifier.urihttp://dx.doi.org/10.1109/TAES.2014.130688
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/9761
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsThis work is made available according to the conditions of the Creative Commons Attribution 4.0 International (CC BY 4.0) licence. Attribution 4.0 International (CC BY 4.0) You are free to: Share — copy and redistribute the material in any medium or format, Adapt — remix, transform, and build upon the material for any purpose, even commercially. The licensor cannot revoke these freedoms as long as you follow the license terms. Under the following terms: Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. Information: No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.
dc.titleRoad-map-assisted standoff tracking of moving ground vehicle using nonlinear model predictive controlen_UK
dc.typeArticleen_UK

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