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Pregled bibliografske jedinice broj: 774316

Range–only Navigation – Maximizing System Observability by Using Extremum Seeking


Mandić, Filip; Mišković, Nikola; Vukić, Zoran
Range–only Navigation – Maximizing System Observability by Using Extremum Seeking // Proceedings of the 10th Conference on Manoeuvring and Control of Marine Craft
Kopenhagen, 2015. str. 101-106 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Range–only Navigation – Maximizing System Observability by Using Extremum Seeking

Autori
Mandić, Filip ; Mišković, Nikola ; Vukić, Zoran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 10th Conference on Manoeuvring and Control of Marine Craft / - Kopenhagen, 2015, 101-106

Skup
10th Conference on Manoeuvring and Control of Marine Craft (MCMC'2015)

Mjesto i datum
Kopenhagen, Danska, 24-26.08.2015

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Underwater vehicle navigation ; Nonlinear control ; State estimation

Sažetak
Mobile beacon vehicles can be used as navigational aid for autonomous underwater vehicles when performing navigation using single range measurements. Using mobile beacon removes constraints imposed on the underwater vehicle trajectory because mobile beacon executes trajectories that ensure persistent range measurements. In this paper extremum seeking based control of beacon vehicle which ensures good observability with small communication overhead is proposed. First cost function which gives measure of observability is derived. In addition, extremum seeking loop for steering mobile beacon is presented. Finally, simulation results of proposed algorithm are presented.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove
Fakultet elektrotehnike i računarstva, Zagreb