期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 35, 期 3, 页码 653-668出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2019.2896436
关键词
Bearing-only measurement; physical constraint; target localization; trajectory optimization
类别
This paper considers the problem of two-dimensional constrained trajectory optimization of a point-mass aerial robot for constant-maneuvering target localization using bearing-only measurement. A performance metric that can be utilized in trajectory optimization to maximize target observability is proposed first based on geometric conditions. One-step optimal maneuver that maximizes the observability criterion is then derived analytically for moving targets. The heading angle constraint is also incorporated in the proposed optimal maneuver derivation to support practical application. Numerical simulations with some comparisons are presented to validate the analytical findings.
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