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Anticipated trajectory based proportional navigation guidance scheme for intercepting high maneuvering targets

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  • Robot and Applications
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Abstract

Most of the existing target tracking schemes based on proportional navigation guidance laws require information on target’s acceleration to device their tracking strategies. Acceleration is computed or estimated continuously at each step to guide the interceptor. However, computation of acceleration is time consuming and often leads to inaccuracy, especially when the target is high maneuvering. Keeping this in view, a proportional navigation based guidance law for the interception of a high maneuvering target is presented that does not require estimation of the target’s acceleration to generate guidance command. The method is based on anticipating target’s trajectory using simple linear extrapolation and rotational correction. The interceptor predicts next position of the target and continuously adjusts its acceleration command to move towards the future position of the target. This simple modification not only helps in improving the time to intercept but also reduces number of target misses. Further, it is easier to implement for real time applications due to computational convenience. Performance of the method is compared 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. Simulation results are further verified through hardware implementation on wheeled mobile robots and results are quite encouraging.

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Author information

Authors and Affiliations

  1. Computer Science and Engineering Discipline, PDPM Indian Institute of Information Technology Design and Manufacturing Jabalpur, Jabalpur, Madhya Pradesh, 482005, India

    Amit Kumar & Aparajita Ojha

  2. Electronics and Communication Engineering Discipline, PDPM Indian Institute of Information Technology Design and Manufacturing Jabalpur, Jabalpur, Madhya Pradesh, 482005, India

    Prabin Kumar Padhy

Authors
  1. Amit Kumar
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  2. Aparajita Ojha
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  3. Prabin Kumar Padhy
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Corresponding author

Correspondence to Amit Kumar.

Additional information

Recommended by Editor Duk-Sun Shim. This work was supported by the Department of Science and Technology, Government of India through the grant no. SR/S4/MS:514/07.

Amit Kumar received his bachelor’s degree in Computer Science and Engineering in the year 2008 from The Institution of Electronics and Telecommunication Engineers, New Delhi, India. He received his M.Tech degree in Computer Science and Engineering in 2010 from PDPM Indian Institute of Information Technology, Design and Manufacturing Jabalpur, India. At the same institute he is currently working towards a Ph.D. degree in Computer Science and Engineering under the supervision of Prof. Aparajita Ojha. His research interests include path planning, virtual environments and animation, control systems.

Aparajita Ojha is a professor in Computer Science and Engineering discipline at PDPM Indian Institute of Information Technology, Design and Manufacturing Jabalpur, India. She obtained her Ph.D. in Mathematics from R.D. University, Jabalpur and prior to her current position, she was a professor of Mathematics at R.D. University, Jabalpur. Her research interests include Computer Aided Design, Geometric Modeling, Finite Elements, Spline Theory, Approximation Theory,Wavelet Analysis, Object and Aspect Oriented Modeling.

Prabin Kumar Padhy is an Associate Professor in Electronics and Communication Engineering disci-pline at PDPM Indian Institute of Information Technology, Design and Manufacturing Jabalpur, India. He obtained his M.Tech in Electrical Engineering in 2001 from Indian Institute of Technology, Banaras Hindu University and his Ph.D. in Control System in 2007 from Indian Institute of Technology Guwahati. His areas of research include Identification Controller Design of Processes and Mobile Robots.

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Kumar, A., Ojha, A. & Padhy, P.K. Anticipated trajectory based proportional navigation guidance scheme for intercepting high maneuvering targets. Int. J. Control Autom. Syst. 15, 1351–1361 (2017). https://doi.org/10.1007/s12555-015-0166-0

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  • DOI: https://doi.org/10.1007/s12555-015-0166-0

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