Observer motion controls for multiple targets considering Doppler-bearing measurements

Path plan strategy of an underwater robot to approach a moving emitter while maximising sound intensity measurements

“…Suppose the robot finishes moving along a planned path, whose length is bounded by Q , before reaching the emitter. Then, the robot estimates the emitter information again by performing optimal observer manoeuvres, such as zigzag manoeuvres [28–30]. Once the emitter information is estimated, then the robot generates a new path whose length is bounded by Q and traverses the path.…”

“…Consider the case where the initial location of the underwater robot is inside the space where it can measure the sound made by the emitter. Initially, the robot performs zigzag manoeuvres to estimate emitter information (emitter's location, acceleration, and velocity) as fast as possible utilising sonar sensors [28–31]. However, how to perform observer manoeuvres is not within the scope of this paper.…”

Observer manoeuvre control to track multiple targets considering Doppler‐bearing measurements in threat environments

“…This paper is based on our conference paper [5]. However, Kim et al [5] developed observer manoeuvre controls based on the extended Kalman filters (EKF). Also, Kim et al [5] did not consider the factor that the observer approaches the target while localising the target.…”

“…Tracking a target using Doppler-bearing measurements is called the Doppler-bearing target motion analysis (DBTMA) problem. This problem is to estimate the position and velocity of a target using both frequency and bearing measurements of the target [1][2][3][4][5].…”

“…This paper is based on our conference paper [5]. However, Kim et al [5] developed observer manoeuvre controls based on the extended Kalman filters (EKF).…”