Sensor Control Using Vehicle Dynamics

Sensor control provides a framework for the autonomous functioning of mobile sensors. The parameters of a target is estimated using a cost function. By optimizing the cost function, the actions to be taken by the vehicle is determined. In the literature, the vehicles are assumed as point robots so far and vehicle dynamics are ignored. In this work, the vehicle dynamics are involved in the equations for the first time. Performance of the systems with and without vehicle dynamics are analyzed in V-REP simulation environment and the results are presented.