scholarly journals Pursuer Navigation Based on Proportional Navigation and Optimal Information Fusion

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Shulin Feng ◽  
Zhanxin Li ◽  
Li Liu ◽  
Hongyong Yang ◽  
Yuanhua Yang ◽  
...  
Keyword(s):  
Obstacle Avoidance ◽  
Information Fusion ◽  
Three Dimensional ◽  
Proportional Navigation ◽  
Kinematics Model ◽  
Application Range ◽  
Environment Simulation ◽  
Optimal Information ◽  
Point To Point ◽  
Proportional Navigation Law

Pursuer navigation is proposed based on the three-dimensional proportional navigation law, and this method presents a family of navigation laws resulting in a rich behavior for different parameters. Firstly, the kinematics model for the pursuer and the target is established. Secondly, the proportional navigation law is deduced through the kinematics model. Based on point-to-point navigation, obstacle avoidance is implemented by adjusting the control parameters, and the combination can enrich the application range of obstacle avoidance and guidance laws. Thirdly, information fusion weighted by diagonal matrices is used for decreasing the tracking precision. Finally, simulations are conducted in the MATLAB environment. Simulation results verify the availability of the proposed navigation law.

Three-dimensional target tracking strategy based on guidance laws and optimal information fusion

2020 ◽  
pp. 014233122096279
Author(s):  
Yihua Dong ◽  
Shulin Feng ◽  
Liuchen Tai
Keyword(s):  
Information Fusion ◽  
Control Strategy ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Proportional Navigation ◽  
Application Range ◽  
Optimal Information ◽  
Guidance Laws ◽  
Tracking Strategy ◽  
Three Dimensional Space

This paper presents a method for pursuer to track a moving target in a three-dimensional space. The method is based on the guidance laws combined with the kinematics equations of the pursuer and the target. The maneuvers of the target are prior unknown to the pursuer. Guidance laws used for tracking are the deviated pursuit and the proportional navigation, and the method presents a family of navigation laws resulting in a rich behavior for different parameters. For the three-dimensional scenario, two cases-not presenting interference and presenting interference are considered. In the absence of interference, the control strategy is proposed to implement the problem of tracking. In the presence of interference, an optimal information fusion Kalman filter weighted by scalars and guidance laws are combined to improve the trajectory tracking precision, and the combination can enrich the application range of information fusion and guidance laws. Simulations are conducted to demonstrate the effectiveness and reliability of the proposed control strategy.

Proportional Navigation and Model Predictive Control of an Unmanned Autonomous Vehicle for Obstacle Avoidance

2018 ◽  
Author(s):  
Ryan P. Shaw ◽  
David M. Bevly
Keyword(s):  
Obstacle Avoidance ◽  
Autonomous Vehicle ◽  
Integrated System ◽  
Reference Trajectory ◽  
Ground Vehicles ◽  
Proportional Navigation ◽  
Predictive Controller ◽  
Proportional Navigation Law ◽  
Vehicle Dynamic Model ◽  
And Control

This paper presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). An obstacle avoidance algorithm was developed using an integrated system involving proportional navigation (PN) and a nonlinear model predictive controller (NMPC). An obstacle avoidance variant of the classical proportional navigation law generates command lateral accelerations to avoid obstacles, while the NMPC is used to track the reference trajectory given by the PN. The NMPC utilizes a lateral vehicle dynamic model. Obstacle avoidance has become a popular area of research for both unmanned aerial vehicles and unmanned ground vehicles. In this application an obstacle avoidance algorithm can take over the control of a vehicle until the obstacle is no longer a threat. The performance of the obstacle avoidance algorithm is evaluated through simulation. Simulation results show a promising approach to conditionally implemented obstacle avoidance.

scholarly journals Improving 3D-3D facial registration methods: potential role of three-dimensional models in personal identification of the living

2021 ◽  
Author(s):  
Daniele Gibelli ◽  
Andrea Palamenghi ◽  
Pasquale Poppa ◽  
Chiarella Sforza ◽  
Cristina Cattaneo ◽  
...  
Keyword(s):  
Three Dimensional ◽  
3D Models ◽  
Personal Identification ◽  
Surveillance Systems ◽  
3D Registration ◽  
Three Dimensional Models ◽  
Point To Point ◽  
Point Distance ◽  
Male Subjects

AbstractPersonal identification of the living from video surveillance systems usually involves 2D images. However, the potentiality of three-dimensional facial models in gaining personal identification through 3D-3D comparison still needs to be verified. This study aims at testing the reliability of a protocol for 3D-3D registration of facial models, potentially useful for personal identification. Fifty male subjects aged between 18 and 45 years were randomly chosen from a database of 3D facial models acquired through stereophotogrammetry. For each subject, two acquisitions were available; the 3D models of faces were then registered onto other models belonging to the same and different individuals according to the least point-to-point distance on the entire facial surface, for a total of 50 matches and 50 mismatches. RMS value (root mean square) of point-to-point distance between the two models was then calculated through the VAM® software. Intra- and inter-observer errors were assessed through calculation of relative technical error of measurement (rTEM). Possible statistically significant differences between matches and mismatches were assessed through Mann–Whitney test (p < 0.05). Both for intra- and inter-observer repeatability rTEM was between 2.2 and 5.2%. Average RMS point-to-point distance was 0.50 ± 0.28 mm in matches, 2.62 ± 0.56 mm in mismatches (p < 0.01). An RMS threshold of 1.50 mm could distinguish matches and mismatches in 100% of cases. This study provides an improvement to existing 3D-3D superimposition methods and confirms the great advantages which may derive to personal identification of the living from 3D facial analysis.

Mechanism Design and Kinematics Simulation of Massage Mechanical Arm

2011 ◽  
Vol 101-102 ◽  
pp. 279-282 ◽  
Author(s):  
Jun Xie ◽  
Jun Zhang ◽  
Jie Li
Keyword(s):  
Mechanism Design ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Model ◽  
Kinematics Simulation ◽  
The Common ◽  
Executive Mechanism

Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.

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