A particle-filter information potential method for tracking and monitoring maneuvering targets using a mobile sensor agent

Author:

Lu W1,Zhang G1,Ferrari S1,Anderson M2,Fierro R2

Affiliation:

1. Laboratory for Intelligent Systems and Control (LISC), Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA

2. Multi-Agent, Robotics, Hybrid, and Embedded Systems ( Marhes), Laboratory Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM, USA

Abstract

The problem of tracking and monitoring moving targets using mobile sensor agents (MSAs) is relevant to a variety of applications, including monitoring of endangered species, civilian security, and military surveillance. This paper presents a new information potential field approach for computing the motion plans and control inputs of a MSA, based on the feedback obtained from a modified particle filter used for tracking multiple moving targets in a region of interest. A modified particle filter is presented that implements a new sampling method based on supporting intervals of normal probability density functions. The method accounts for the latest sensor measurements by adapting a mixture representation of the target probability density functions (PDFs). The target motion is modeled as a semi-Markov jump process, such that the target PDFs, or the PDFs of the Markov parameters, can be updated based on real-time sensor measurements by a centralized processing unit or MSAs supervisor. A new information potential method is presented that computes an artificial potential function based on the output of the modified particle filter. Using this artificial potential, the sensors compute feedback control inputs that allow them to track and monitor a maneuvering target over time, using a bounded field of view (FOV).

Publisher

SAGE Publications

Subject

Engineering (miscellaneous),Modeling and Simulation

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Survey: mobile sensor networks for target searching and tracking;Cyber-Physical Systems;2018-04-03

2. Classifying the weights of particle filters in nonlinear systems;Communications in Nonlinear Science and Numerical Simulation;2016-02

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