Designing the NGC system of a small ASV for tracking underwater targets

Conte, G.; Capua, Graziano Pio De; Scaradozzi, David

doi:10.1016/j.robot.2015.11.008

Cited by 26 publications

(5 citation statements)

References 18 publications

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“…where α = 0.5. Utilizing the least square method, the left and right sides of Equation (15) are respectively considered as functions, and the square of their difference can be minimized to obtain the values of K, T, α:…”

Section: Integral Nonlinear Least Squares Methodsmentioning

confidence: 99%

“…However, this method does not consider the maneuverability of the USV in optimization, only the reduction of the number of turns to achieve the optimization effect. For the path planning of an automatic underwater vehicle (AUV), based on the genetic algorithm [15,16], the B spline interpolation method was introduced into the objective function for path smoothing. However, when a few path nodes exceed the turning ability of the AUV, irrespective of the fit between the nodes, the curve formed is unreachable.…”

Section: Introductionmentioning

confidence: 99%

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Second Path Planning for Unmanned Surface Vehicle Considering the Constraint of Motion Performance

Fan

Liao

et al. 2019

JMSE

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When utilizing the traditional path planning method for unmanned surface vehicles (USVs), ‘planning-failure’ is a common phenomenon caused by the inflection points of large curvatures in the planned path, which exceed the performances of USVs. This paper presents a second path planning method (SPP), which is an initial planning path optimization method based on the geometric relationship of the three-point path. First, to describe the motion performance of a USV in conjunction with the limited test data, a method of integral nonlinear least squares identification is proposed to rapidly obtain the motion constraint of the USV merely by employing a zig zag test. It is different from maneuverability identification, which is performed in combination with various tests. Second, the curvature of the planned path is limited according to the motion performance of the USV based on the traditional path planning, and SPP is proposed to make the maximum curvature radius of the optimized path smaller than the rotation curvature radius of the USV. Finally, based on the ‘Dolphin 1’ prototype USV, comparative simulation experiments were carried out. In the experiment, the path directly obtained by the initial path planning and the path optimized by the SPP method were considered as the tracking target path. The artificial potential field method was used as an example for the initial path planning. The experimental results demonstrate that the tracking accuracy of the USV significantly improved after the path optimization using the SPP method.

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Section: Integral Nonlinear Least Squares Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Second Path Planning for Unmanned Surface Vehicle Considering the Constraint of Motion Performance

Fan

Liao

et al. 2019

JMSE

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show abstract

“…Conte et al studied on how to track underwater targets [16], Asmaa et al introduced target tracking in wireless sensor networks [17]. Moreover, there are other studies about target tracking, such as underwater passive target tracking [18], target tracking with range-only information [19], target tracking using interactive multiple model [20], target tracking utilizing underwater wireless sensor networks [21], multi-target tracking with multi-bernoulli filter [22].…”

Section: Related Workmentioning

confidence: 99%

A novel fast target tracking method for UAV aerial image

2017

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Unmanned aerial vehicles (UAV) are able to achieve autonomous flight without drivers, and UAV has been a key tool to extract space data. Therefore, how to detect the trajectories of targets from UAV aerial image sequences is of great importance. Because local features are suitable to detect target tracking, we exploit scaleinvariant feature transform (SIFT) features to describe the interesting keypoints of targets. The main innovation of this paper is to utilize Multiple hypothesis tracking (MHT) algorithm to track an object (target) in a series of image sequences. Particularly, we develop a MHT framework based on a multidimensional assignment formulation and a sliding time window policy. To obtain target tracking from UAV aerial image sequences, three steps should be done, that is, 1) Breaking each track set into tracklet at a specific time, 2) Estimating the association cost of each track set, 3) Merging trajectory fragments to a longer one iteratively. Finally, we collect several UAV aerial image sequences with different target density to construct a dataset, and experimental results demonstrate the effectiveness of the proposed algorithm.

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“…Another example is provided by [6], where an ASV is used to carry and deploy a AUV in mine counter-measures applicative scenario. A robotic platform consisting of an ASV that is capable of deploying and recovering an ROV has been first considered in [7] and more recently in [9][10][11]. From a commercial point of view, L3 Technologies recently presented the C-Worker 7 system that has the above mentioned characteristics [12].…”

Section: Introductionmentioning

confidence: 99%

A Low Cost Prototypal Robotic Platform for Underwater Survey in Shallow Water

Conte¹

2020

ARME

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A small, innovative robotic platform for underwater surveys in shallow water is proposed. The platform integrates a commercially available, remotely operated, underwater micro vehicle and a specifically designed and constructed actuated buoy. The mechatronic structure and the control architecture of the platform are described together with its functional features. Tests to validate the implemented constructive solutions are briefly reported, together with functional tests to assess usability in geolocalizing underwater targets.

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Designing the NGC system of a small ASV for tracking underwater targets

Cited by 26 publications

References 18 publications

Second Path Planning for Unmanned Surface Vehicle Considering the Constraint of Motion Performance

Second Path Planning for Unmanned Surface Vehicle Considering the Constraint of Motion Performance

A novel fast target tracking method for UAV aerial image

A Low Cost Prototypal Robotic Platform for Underwater Survey in Shallow Water

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