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Proceedings Paper

Automatic target tracking with time-delayed measurements for unmanned surface vehicles
Author(s): Jungwook Han; Nam-sun Son; Jinwhan Kim
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Paper Abstract

This paper presents the automatic target detection and tracking of marine obstacles for unmanned surface vehicles (USVs). For practical applications with a USV, the automatic detection of surrounding obstacles is a crucial capability, and marine radars have been commonly used to detect and estimate the motion of obstacles. However, their tracking performance degrades when a target is approaching at a high relative velocity due to their relatively low sampling rate. This study addresses the automatic target tracking of marine obstacles by considering time-delayed measurements provided by a marine radar. The relative position information between a USV and nearby obstacles is obtained using the radar sensor, and the obstacles’ motion including position, course, and speed is estimated using an extended Kalman filter (EKF)-based tracking filter by compensating the measurement delay. To validate the feasibility of the proposed method, a real-sea experiment was conducted using a USV and the results are presented.

Paper Details

Date Published: 12 November 2019
PDF: 6 pages
Proc. SPIE 11197, SPIE Future Sensing Technologies, 111971B (12 November 2019); doi: 10.1117/12.2547429
Show Author Affiliations
Jungwook Han, Korea Research Institute of Ships and Ocean Engineering (Korea, Republic of)
Nam-sun Son, Korea Research Institute of Ships and Ocean Engineering (Korea, Republic of)
Jinwhan Kim, Korea Advanced Institute of Science and Technology (Korea, Republic of)

Published in SPIE Proceedings Vol. 11197:
SPIE Future Sensing Technologies
Masafumi Kimata; Christopher R. Valenta, Editor(s)

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