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- 저자 : Aparajita Ojha (검색결과 1 건)
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Amit Kumar,Aparajita Ojha,Prabin Kumar Padhy 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.3
Most of the existing target tracking schemes based on proportional navigation guidance laws requireinformation on target’s acceleration to device their tracking strategies. Acceleration is computed or estimated continuouslyat each step to guide the interceptor. However, computation of acceleration is time consuming and oftenleads to inaccuracy, especially when the target is high maneuvering. Keeping this in view, a proportional navigationbased guidance law for the interception of a high maneuvering target is presented that does not require estimationof the target’s acceleration to generate guidance command. The method is based on anticipating target’s trajectoryusing simple linear extrapolation and rotational correction. The interceptor predicts next position of the target andcontinuously adjusts its acceleration command to move towards the future position of the target. This simple modificationnot only helps in improving the time to intercept but also reduces number of target misses. Further, it iseasier to implement for real time applications due to computational convenience. Performance of the method iscompared with some of the most efficient navigation guidance laws with respect to the time taken in interception,distance traversed and the path followed by the interceptor. In addition, proof of convergence is provided. Simulationresults are further verified through hardware implementation on wheeled mobile robots and results are quiteencouraging.
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