Energy-based multiple target localization and pursuit in mobile sensor networks

The application of mobile robotic sensor networks has been widely studied in target localization and pursuit. Conventional target tracking methods always require an explicit system observation model of the target positions, which, however, would fail if such model is not available. In this paper, a...

Full description

Saved in:
Bibliographic Details
Main Authors: Hu, Jinwen, Xie, Lihua, Zhang, Cishen
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2013
Subjects:
Online Access:https://hdl.handle.net/10356/96071
http://hdl.handle.net/10220/11430
Tags: Add Tag
No Tags, Be the first to tag this record!
Institution: Nanyang Technological University
Language: English
Description
Summary:The application of mobile robotic sensor networks has been widely studied in target localization and pursuit. Conventional target tracking methods always require an explicit system observation model of the target positions, which, however, would fail if such model is not available. In this paper, a distributed target localization and pursuit scheme is proposed based on discrete measurements of the energy intensity field produced by mobile targets. The accurate observation model of such field is not available except some critical bounds. By our control strategy, all robots are categorized into two groups: the leaders, responsible for the target pursuit, and the followers, responsible for the formation and connectivity maintenance. The influence of the system parameters on the convergence of leaders to the local maximum points is analyzed. Finally, the proposed scheme is demonstrated by simulation.