Accurate estimation and prediction of trajectory is essential for interception of any high speed target. In this paper, an extended Kalman filter is used to estimate the current location of target from its visual information and then predict its future position by using the observation sequence. Target motion model is developed considering the approximate known pattern of the target trajectory. In this work, we utilise visual information of the target to carry out the predictions. The proposed algorithm is developed in ROS-Gazebo environment and is verified using hardware implementation.
@article{arxiv.2010.02512,
title = {Target State Estimation and Prediction for High Speed Interception},
author = {Aashay Bhise and Shuvrangshu Jana and Lima Agnel Tony and Debasish Ghose},
journal= {arXiv preprint arXiv:2010.02512},
year = {2020}
}
Comments
arXiv admin note: substantial text overlap with arXiv:2009.00067