Interacting fuzzy multimodel intelligent tracking system for swift target manoeuvres

Gokkus L., Erkmen A., Tekinalp O.

1997 IEEE/RSJ International Conference on Intelligent Robot and Systems - Innovative Robotics for Real-World Applications (IROS 97), Grenoble, France, 7 - 11 September 1997, pp.766-771 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • City: Grenoble
  • Country: France
  • Page Numbers: pp.766-771
  • Middle East Technical University Affiliated: Yes


This paper focuses on the generation of an intelligent tracker module equipped with a wavelet based neural network that learns predictions from past experience. The perception of actual tar et manoeuvre and prediction of its future states are achieved in this work by "projecting" actual observations into decision spaces of local fuzzy predictions based on independent prototypical trajectory types: linear, parabolic and square root type trajectory. Decentralized tracking decisions are thus generated which are further evaluated by learning prediction module and are fused before being sent to the guidance module. The tracker is tested for 3 dimensional target tracking problem.