• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.525-527
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• 1999

In this paper, we propose the target tracking system using fuzzy basis function expansion (FBFN) based on genetic algorithm (GA). In general, the objective of target tracking is to predict the future trajectory of the target based on the past position of the target obtained from the sensor. In the conventional and mathematical method, the parameter uncertainty and the environmental noise may deteriorate the performance of the system. To resolve these problems, we apply artificial intelligent technique to the tracking control of moving targets. The proposed method combines the advantages of both traditional and intelligent technique. The result of numerical simulation shows the effectiveness of the proposed method.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.54-56
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• 2006

To get the robust and reliable input command, we designed shaping function for target tracking system with commander's handle. Input signals of the commander's handle are generated by human operator. It is response of the human to reduce the error between target and gun. But, tracking error while operator aim a moving target manually gives poor system performance. Input noise, particularly, affects hit accuracy as the system performance. We proposed the design method of input command shaping to reduce the Input noise and to improve the operation ability and convenience. We performed the experiments with combat vehicle, example of Target Tracking System, to show the proposed method is efficient and practical.

• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.6
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• pp.321-328
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• 2018

This paper presents an automatic target tracking flight system using a PID controller based on velocity command of a multirotor UAV. The automatic flight system includes marker based onboard target detection and an automatic velocity command generation replacing manual controller. A quad-rotor UAV is equipped with a camera and an image processing computer to detect the marker in real time and to estimate the relative distance from the target. The marker tracking system consists of PID controller and generates velocity command based on the relative distance. The generated velocity command is used as the input of the UAV's original flight controller. The operation of the proposed system was verified through actual flight tests using a marker on top of a moving vehicle and tracks it to successfully demonstrate its capability using a quad-rotor UAV.

• Journal of information and communication convergence engineering
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• v.8 no.2
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• pp.145-149
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• 2010

In this paper, we propose a kinematic approach to estimating the real-time moving object. A new scheme for a mobile robot to track and capture a moving object using images of a camera is proposed. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.63.5-63
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• 2001

In this paper, moving objects tracking and dynamic characteristic analysis are studied. Kohonen´s self-organizing neural network models are used for moving objects tracking and time delay neural networks are used for dynamic characteristic analysis. Instead of objects brightness, neuron projections by Kohonen Networks are used. The motion of target objects can be analyzed by using the differential neuron image between the two projections. The differential neuron image which is made by two consecutive neuron projections is used for center detection and moving objects tracking. The two differential neuron images which are made by three consecutive neuron projections are used for the moving trajectory estimation.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.1
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• pp.27-35
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• 2004

In the field of machine vision using a single camera mounted on a mobile robot, although the detection and tracking of moving objects from a moving observer, is complex and computationally demanding task. In this paper, we propose a new scheme for a mobile robot to track and capture a moving object using images of a camera. The system consists of the following modules: data acquisition, feature extraction and visual tracking, and trajectory generation. And a single camera is used as visual sensors to capture image sequences of a moving object. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.9
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• pp.636-645
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• 1988

A new filter algorithm is suggested improving structurally the conventional extended Kalman filter of which the performance is dependent on the selection of the reference axes, by use of line-of-sight axes and gain rotation technique. The implementation method using microcomputer which implements tracking Kalman filter is introduced in terms of hardware and software. Then, through the simulation the performance of suggested filter is compared with that of conventional extended Kalman filter and the possibility of the real time tracking of moving target is investigated.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.187-191
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• 1988

To track the manenvering target and to derive the Filter using state estimation and information in real time, we derive adaptive Kalman Filter which reinitialize the internal filter mode.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.05a
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• pp.126-130
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• 2001

In this paper, we propose the design methodology of target tracking system using fuzzy basis function expansion (FBFE) based on virus evolutionary genetic algorithm(VEGA). In general, the objective of target tracking is to estimate the future trajectory of the target based on the past position of the target obtained from the sensor. In the conventional and mathematical nonlinear filtering method such as extended Kalman filter (EKF), the performance of the system may be deteriorated in highly nonlinear situation. To resolve these problems of nonlinear filtering technique, by appling artificial intelligent technique to the tracking control of moving targets, we combine the advantages of both traditional and intelligent control technique. In the proposed method, after composing training datum from the parameters of extended Kalman filter, by combining FBFE, which has the strong ability for the approximation, with VEGA, which prevent GA from converging prematurely in the case of lack of genetic diversity of population, and by identifying the parameters and rule numbers of fuzzy basis function simultaneously, we can reduce the tracking error of EKF. Finally, the proposed method is applied to three dimensional tracking problem, and the simulation results shows that the tracking performance is improved by the proposed method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.2
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• pp.114-120
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• 2011

This paper presents a cooperative standoff tracking of a moving target using multiple unmanned aircraft. To provide guidance commands, vector fields are designed utilizing the Lyapunov stability theory. A roll angle command is generated to keep a constant distance from the target in a circular motion. A speed command and a heading angle command are designed to keep a constant phase angle with respect to the front aircraft and to prevent a collision between aircraft. Numerical simulation is performed to verify the tracking and collision performance of the proposed control laws.