Straight-Line Target Tracking for Unmanned Surface Vehicles

By M. Breivik, Vegard Hovstein, Thor I. Fossen. 2008

203 citations recorded by the source corpus.

This paper considers the subject of straight-line target tracking for unmanned surface vehicles (USVs). Target-tracking represents motion control scenarios where no information about the target behavior is known in advance, i.e., the path that the target traverses is not defined apriori. Specifically, this work presents the design of a motion control system which enables an underactuated USV to track a target that moves in a straight line at high speed. The motion control system employs a guidance principle originally developed for interceptor missiles, as well as a novel velocity controller inspired by maneuverability and agility concepts found in fighter aircraft literature. The performance of the suggested design is illustrated through full-scale USV experiments in the Trondheimsfjord.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/94706a239afcbe304079041882a456a0a0993dd9

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Aerospace Engineering

1. Zhouhua Peng
2. Jun Wang
3. Dan Wang
4. Anastasios M. Lekkas
5. Qing-Long Han
6. Thor I. Fossen

In Computer Vision and Pattern Recognition

1. Jun Wang
2. Zhouhua Peng
3. Anastasios M. Lekkas
4. Thor I. Fossen

In Control and Systems Engineering

1. Jun Wang
2. Zhouhua Peng
3. Dan Wang
4. Qing-Long Han
5. Anastasios M. Lekkas
6. Thor I. Fossen
7. Qing-Long Han
8. Shengyuan Xu

Citations in the corpus

• An Overview of Recent Advances in Coordinated Control of Multiple Autonomous Surface Vehicles (2021, methodology): “single or multiple surface vehicles to track a single or multiple targets [11], [15], [29].”
• Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline Parametrization (2014, methodology): “In this paper, we are dealing with only the path-following task, which (following the definition given in [40]) does not impose temporal restrictions and therefore we assume that the speed is measured and manually controlled, hence the speed control problem will not be addressed.”