| Autor: |
Zhiyuan Sun, Huawei Sun, Ping Li, Xiaowen Li, Lei Du |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
|
| Zdroj: |
Applied Sciences, Vol 12, Iss 18, p 9120 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app12189120 |
| Popis: |
In order to solve the interception problem of escaping targets under environmental interference and inaccurate target perception, this paper introduces the guidance interception algorithm and introduces a Kalman filter to predict the trajectory of escaping targets. In order to make a USV pursuit under a disturbance in a time-varying real marine environment, a disturbance observer is proposed to estimate the external disturbance and model uncertainty. The simulation of pursuit–evasion results shows that the interception algorithm designed enables the pursuer to intercept the escaping target in a time-varying, disturbed marine environment. Both the simulation and experimental results are provided to validate the effectiveness of the method. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
