dc.citation.conferencePlace |
CN |
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dc.citation.endPage |
4268 |
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dc.citation.startPage |
4263 |
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dc.citation.title |
2012 American Control Conference (ACC) |
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dc.contributor.author |
Oh, Hyondong |
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dc.contributor.author |
Kim, Seungkeun |
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dc.contributor.author |
Tsourdos, Antonios |
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dc.contributor.author |
White, Brian |
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dc.date.accessioned |
2023-12-20T02:07:00Z |
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dc.date.available |
2023-12-20T02:07:00Z |
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dc.date.created |
2016-08-17 |
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dc.date.issued |
2012-06 |
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dc.description.abstract |
This paper presents a 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 on tracking performance, this paper focuses on utilising road-map information to enhance the estimation accuracy. For this, a practical road approximation algorithm is firstly 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 extended Kalman filter and unscented Kalman filter are implemented along with the state-vector fusion technique using cooperative UAVs. Lastly, a nonlinear model predictive control standoff tracking guidance is explained briefly. To verify the feasibility and benefits of the proposed approach, numerical simulations are performed using a realistic car trajectory data in a city traffic. |
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dc.identifier.bibliographicCitation |
2012 American Control Conference (ACC), pp.4263 - 4268 |
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dc.identifier.doi |
10.1109/ACC.2012.6314873 |
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dc.identifier.isbn |
978-1-4577-1095-7 |
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dc.identifier.issn |
0743-1619 |
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dc.identifier.uri |
https://scholarworks.unist.ac.kr/handle/201301/41222 |
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dc.identifier.url |
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6314873 |
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dc.language |
영어 |
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dc.publisher |
American Control Conference |
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dc.title |
Road-map assisted standoff tracking of moving ground vehicle using nonlinear model predictive control |
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dc.type |
Conference Paper |
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dc.date.conferenceDate |
2012-06-27 |
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