Figure 4.

Sensing tracking target involves a sequential process depicted in (a). Initially, upon target detection, the measured aspect angle remains unresolved, as evidenced by both port and starboard rays extending from the vehicle. Subsequent maneuvering and data collection during the second leg facilitate the completion of the resolve-ps-ambiguity behavior, leading to the determination of target orientation. Once resolved, the keep-broadside behavior utilizes the obtained vehicle-relative bearing measurement, indicated by a single ray extending from the vehicle, to effectively track the target’s movements. (b) In the realm of optical sensing, a progression unfolds from the top left to right, followed by a downward transition. The initial view showcases the original image captured. Subsequently, the HSV image processing unveils a distinct perspective, enabling the extraction of key color information. Finally, the journey culminates in the presentation of color masks, representing specific regions of interest and aiding in targeted analysis. This holistic sensing approach harmonizes various stages of processing, culminating in a comprehensive understanding of the tracked target’s dynamics and optical properties [30,34].