NDLI: 3D path planner of an autonomous underwater vehicle to track an emitter using frequency and azimuth

Content Provider	IET Digital Library
Author	Kim, Jonghoek
Abstract	This study considers the 3D scenario where an autonomous underwater vehicle (AUV) tracks an emitter while estimating the emitter's location by measuring the emitter's frequency and elevation–azimuth angle. To enhance the emitter estimation based on frequency–angle measurements, this study presents an AUV's path planner considering acceleration limits, such as the bounded turn rate. As far as the author's knowledge, the proposed path planner is novel in presenting an AUV's 3D path planner to enhance the emitter estimation based on frequency–angle measurements. The proposed 3D planner is useful in underwater target tracking, since the AUV approaches the emitter while avoiding 3D threat environments. The effectiveness of the proposed planner is verified by utilising simulations.
Starting Page	1236
Ending Page	1243
Page Count	8
ISSN	17518784
Volume Number	14
e-ISSN	17518792
Issue Number	Issue 8, Aug (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-rsn/14/8
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2020.0116
Journal	IET Radar, Sonar & Navigation
Publisher Date	2020-04-30
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	3D Threat Environments Autonomous Underwater Vehicle AUV's 3D Path Planner AUV's Path Planner Azimuth–elevation Angle Measurements Emitter Estimation Frequency–angle Measurements Marine System Control Mobile Robots Motion Control Path Planning Remotely Operated Vehicle Spatial Variables Control Target Tracking Underwater Target Tracking Underwater Vehicle
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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