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https://hdl.handle.net/2440/104246
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Type: | Journal article |
Title: | Probabilistic multi-hypothesis tracker for multiple platform path planning |
Author: | Cheung, B. Davey, S. Gray, D. |
Citation: | IET Radar, Sonar and Navigation , 2015; 9(3):255-265 |
Publisher: | Institution of Engineering and Technology |
Issue Date: | 2015 |
ISSN: | 1751-8784 1751-8792 |
Statement of Responsibility: | Brian Cheung, Samuel Davey, Douglas Gray |
Abstract: | This study considers the problem of automatically coordinating multiple platforms to explore an unknown environment. The goal is a planning algorithm that provides a path for each platform in such a way that the collection of platforms cooperatively sense the environment in a globally efficient manner. The environment is described by a spatially non-homogeneous priority function. The method samples this function to produce a discrete collection of locales that the platforms use as waypoints. The key feature of the method is to treat the assignment of locales to platforms as a target tracking problem and to use the probabilistic multi-hypothesis tracker (PMHT) as a method of performing multi-platform batch data association. This paper introduces the PMHT path planner (PMHT-pp) and compares this algorithm as a method of performing multiple platform batch data association with the Genetic Algorithm to solve the modified multi-travelling salesman problem. |
Keywords: | Travelling salesman problems; genetic algorithms; path planning; probability; sensor fusion; target tracking |
Rights: | © Commonwealth of Australia 2015 |
DOI: | 10.1049/iet-rsn.2014.0089 |
Published version: | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7054601&filter=AND(p_IS_Number:7054575) |
Appears in Collections: | Aurora harvest 3 Electrical and Electronic Engineering publications |
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