Optimal planning for target localization and coverage using range sensing

Lauren M. Miller, Todd D. Murphey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations

Abstract

This paper presents an algorithm for autonomously calculating active sensing strategies applied to range sensing. The receding-horizon algorithm we use, called Ergodic Exploration of Distributed Information (EEDI), involves two major components: a) calculation of an expected information density map over the search space based on prior information and a model of the sensor, and b) ergodic trajectory optimization over the sensor configuration space with respect to that information map. The ergodic control algorithm does not rely on discretization of the search or action spaces, and is well-posed for coverage with respect to the expected information density whether the information is diffuse or localized. We simulate successful localization and discrimination of targets in a two-dimensional workspace using a fixed-location range sensor under various noise levels, and compare performance to an information maximizing strategy.

Original languageEnglish (US)
Title of host publication2015 IEEE Conference on Automation Science and Engineering
Subtitle of host publicationAutomation for a Sustainable Future, CASE 2015
PublisherIEEE Computer Society
Pages501-508
Number of pages8
ISBN (Electronic)9781467381833
DOIs
StatePublished - Oct 7 2015
Event11th IEEE International Conference on Automation Science and Engineering, CASE 2015 - Gothenburg, Sweden
Duration: Aug 24 2015Aug 28 2015

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2015-October
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other11th IEEE International Conference on Automation Science and Engineering, CASE 2015
CountrySweden
CityGothenburg
Period8/24/158/28/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Miller, L. M., & Murphey, T. D. (2015). Optimal planning for target localization and coverage using range sensing. In 2015 IEEE Conference on Automation Science and Engineering: Automation for a Sustainable Future, CASE 2015 (pp. 501-508). [7294129] (IEEE International Conference on Automation Science and Engineering; Vol. 2015-October). IEEE Computer Society. https://doi.org/10.1109/CoASE.2015.7294129