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3D path planner of an autonomous underwater vehicle to track an emitter using frequency and azimuth elevation angle measurements
Jonghoek Kim(Electronic and Electrical Convergence Department,)
Korea | IET Radar, Sonar & Navigation volume 14 Issue 8

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IET Radar, Sonar & Navigation volume 14 Issue 8

https://ietresearch.onlinelibrary.wiley.com/doi/10.1049/iet-rsn.2020.0116

 

 

■ Researchers

Jonghoek Kim

Electronic and Electrical Convergence Department, Hongik University

 

 

■ Abstract

This study considers the 3D scenario where an autonomous underwater vehicle (AUV) tracks an emitter while estimating the emitter is location by measuring the emitter is frequency and elevation–azimuth angle. To enhance the emitter estimation based on frequency–angle measurements, this study presents an AUV is path planner considering acceleration limits, such as the bounded turn rate. As far as the author is knowledge, the proposed path planner is novel in presenting an AUV is 3D path planner to enhance the emitter estimation based on frequency–angle measurements. The proposed 3D planner is useful in underwater target tracking, since the AUV approaches the emitter while avoiding 3D threat environments. The effectiveness of the proposed planner is verified by utilising simulations.

 

 

  • control theory
  • multi-agent robotics
  • optimal estimation
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