A priority-driven optimal guidance approach to moving target tracking for safe navigation in a narrow space

Karnika Biswas, Indrani Kar and Eric Feron

International Journal of Systems Science, 2022, vol. 53, issue 1, 138-153

Abstract: This paper presents an ‘optimally designed’ anti-collision trajectory plan suitable for moving target tracking in narrow spaces like corridors, aisles, etc. Narrow spaces constitute of highly constrained reachable states in the context of dynamic motion. Tracking is the default mode, while the safe trajectory is triggered on a priority-basis. The optimal switching point plays a key role in preventing a possible collision due to a ‘mis-timed’ change of manoeuvre, in case the obstacle shows unanticipated motion. Moreover, it also ensures that tracking is resumed at a point which minimises tracking error under the said deviation from the desired path. A smoothening filter has been proposed to make seamless transitions at the switching points.

Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2021.1941395 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:53:y:2022:i:1:p:138-153

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2021.1941395

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().