Trajectory optimization for target localisation with bearing-only measurement

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dc.contributor.authorHe, Shaoming
dc.contributor.authorShin, Hyosang
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2019-02-28T17:49:20Z
dc.date.available2019-02-28T17:49:20Z
dc.date.issued2019-02-27
dc.description.abstractThis paper considers the problem of twodimensional (2D) constrained trajectory optimisation of a pointmass aerial robot for constant-manoeuvring target localisation using bearing-only measurement. A performance metric that can be utilised in trajectory optimisation to maximise target observability is proposed first based on geometric conditions. One-step optimal manoeuvre that maximises the observability criterion is then derived analytically for moving targets. The heading angle constraint is also incorporated in the proposed optimal manoeuvre derivation to support practical application. Numerical simulations with some comparisons are presented to validate the analytical findings.en_UK
dc.identifier.citationShaoming He, Hyo-Sang Shin and Antonios Tsourdos. Trajectory optimization for target localisation with bearing-only measurement. IEEE Transactions on Robotics, Volume 35, Issue 3, 2019, pp. 653-668en_UK
dc.identifier.cris22652341
dc.identifier.issn1552-3098
dc.identifier.urihttps://doi.org/10.1109/TRO.2019.2896436
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/13951
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectTarget localisationen_UK
dc.subjectBearing-only measurementen_UK
dc.subjectTrajectory optimisationen_UK
dc.subjectPhysical constrainten_UK
dc.titleTrajectory optimization for target localisation with bearing-only measurementen_UK
dc.typeArticleen_UK

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