Title :
Prediction of AUV moving target based on forward looking sonar using grey prediction principle
Author :
Xu, Jian ; Zhao, Jie ; Yan, Zheping ; Chen, Lei
Author_Institution :
Robot. Inst., Harbin Inst. of Technol., Harbin, China
Abstract :
The paper presents a grey predicting method for identify and estimate of AUV moving target based on the information of forward looking sonar. The region model of forward looking sonar is founded, the method of predicting moving target based on gray prediction principle is introduced, and the simulation research is carried out for three typical movement: regularity movement, accelerate regularity movement and variety accelerate movement. The result shows that the method can predict the information of the moving target fast and accurately.
Keywords :
grey systems; mobile robots; prediction theory; remotely operated vehicles; sonar tracking; target tracking; underwater vehicles; AUV moving target prediction; accelerate regularity movement; forward looking sonar; grey prediction principle; variety accelerate movement; Acceleration; Collision avoidance; Least squares methods; Marine vehicles; Mechatronics; Prediction theory; Predictive models; Robot kinematics; Robotics and automation; Sonar; Autonomous Underwater Vehicle; Forward Looking Sonar; Grey Prediction; Typical movement;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5245021
