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Title: Road-map assisted standoff tracking of moving ground vehicle using nonlinear model predictive control
Authors: Oh, Hyondong
Kim, Seungkeun
Tsourdos, Antonios
Keywords: UAVs
Standoff tracking guidance
Nonlinear model predictive control
Road-constrained filtering
Sensor fusion
Issue Date: 2015
Publisher: © IEEE
Citation: OH, H., KIM, A. and TSOURDOS, A., 2015. Road-map assisted standoff tracking of moving ground vehicle using nonlinear model predictive control. IEEE Transactions on Aerospace and Electronic Systems, 15 (2), pp.975-986.
Abstract: This paper presents road-map–assisted standoff tracking of a ground vehicle using nonlinear model predictive control. In model predictive control, since the prediction of target movement plays an important role in tracking performance, this paper focuses on utilizing road-map information to enhance the estimation accuracy. For this, a practical road approximation algorithm is first proposed using constant curvature segments, and then nonlinear road-constrained Kalman filtering is followed. To address nonlinearity from road constraints and provide good estimation performance, both an extended Kalman filter and unscented Kalman filter are implemented along with the state-vector fusion technique for cooperative unmanned aerial vehicles. Lastly, nonlinear model predictive control standoff tracking guidance is given. To verify the feasibility and benefits of the proposed approach, numerical simulations are performed using realistic car trajectory data in city traffic.
Description: This paper was published by IEEE as Open Access.
Sponsor: This study was supported by 1) the UK Engineering and Physical Science Research Council (EPSRC) under the Grant EP/J011525/1 and 2) “Guidance/Control Study for Take-off and Landing on a Ship” program through the Agency for Defense Development (ADD) of KOREA (UD1130053JD).
Version: Published
DOI: 10.1109/TAES.2014.130688
URI: https://dspace.lboro.ac.uk/2134/16223
Publisher Link: http://dx.doi.org/ 10.1109/TAES.2014.130688
ISSN: 0018-9251
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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