Bearing-Only Tracking and Circumnavigation of a Fast Time-Varied Velocity Target Utilising an LSTM
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866910920541732864 |
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| author | Torok, Mitchell Deghat, Mohammad Song, Yang |
| author_facet | Torok, Mitchell Deghat, Mohammad Song, Yang |
| contents | Bearing-only tracking, localisation, and circumnavigation is a problem in which a single or a group of agents attempts to track a target while circumnavigating it at a fixed distance using only bearing measurements. While previous studies have addressed scenarios involving stationary targets or those moving with an unknown constant velocity, the challenge of accurately tracking a target moving with a time-varying velocity remains open. This paper presents an approach utilising a Long Short-Term Memory (LSTM) based estimator for predicting the target's position and velocity. We also introduce a corresponding control strategy. When evaluated against previously proposed estimation and circumnavigation approaches, our approach demonstrates significantly lower control and estimation errors across various time-varying velocity scenarios. Additionally, we illustrate the effectiveness of the proposed method in tracking targets with a double integrator nonholonomic system dynamics that mimic real-world systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_19463 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Bearing-Only Tracking and Circumnavigation of a Fast Time-Varied Velocity Target Utilising an LSTM Torok, Mitchell Deghat, Mohammad Song, Yang Robotics Bearing-only tracking, localisation, and circumnavigation is a problem in which a single or a group of agents attempts to track a target while circumnavigating it at a fixed distance using only bearing measurements. While previous studies have addressed scenarios involving stationary targets or those moving with an unknown constant velocity, the challenge of accurately tracking a target moving with a time-varying velocity remains open. This paper presents an approach utilising a Long Short-Term Memory (LSTM) based estimator for predicting the target's position and velocity. We also introduce a corresponding control strategy. When evaluated against previously proposed estimation and circumnavigation approaches, our approach demonstrates significantly lower control and estimation errors across various time-varying velocity scenarios. Additionally, we illustrate the effectiveness of the proposed method in tracking targets with a double integrator nonholonomic system dynamics that mimic real-world systems. |
| title | Bearing-Only Tracking and Circumnavigation of a Fast Time-Varied Velocity Target Utilising an LSTM |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.19463 |