Incorporating obstacle information into maneuvering target-tracking algorithms may lead to a better performance when the target when the target maneuver is caused by avoiding collision with obstacles. In this paper. we propose a fuzzy-logic-based method incorporating new obstacle information into the interacting multiple-model (IMM) algorithm (FOIA-MM). We use convex polygons to descr... https://www.roneverhart.com/Nef-Rune/