Sensor Placement for Improved Robotic Navigation
Sensor Placement for Improved Robotic Navigation
复制标题
用于改进机器人导航的传感器放置
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
C. Tomlin
中科院分区：
文献类型：
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作者：
M. Vitus;C. Tomlin
考虑一组固定传感器，用于估计车辆在尝试遵循预先计划的轨迹时的状态（例如位置、方向和速度）。由于传感器只能在车辆处于范围内时向车辆提供测量结果，因此传感器的部署将对车辆遵循轨迹的能力产生重大影响。这里解决的问题是将传感器最佳地放置在环境中，使得每个时间步长的估计误差的加权函数最小化。提出了一种优化公式，在确定车辆是否可以从传感器接收测量值时考虑车辆状态的不确定性。引入置信度作为控制解的保守性的调整参数。因此，最终的解决方案增加了车辆成功遵循其预期轨迹的可能性。最后，由于传感器位置之间的相互依赖性，提出了一种新颖的增量优化算法，其性能明显优于标准非线性优化程序。实验和仿真结果表明了所提出算法的性能。
Consider a set of fixed sensors used to estimate the state of a vehicle (e.g. position, orientation and velocity) while it attempts to follow a pre-planned trajectory. Since the sensor can only provide a measurement to the vehicle when it is within range, the deployment of the sensors will have a major impact on the ability of the vehicle to follow the trajectory. The problem addressed here is to optimally place the sensors in the environment such that the weighted function of the estimation error at each time-step is minimized. An optimization formulation is proposed that accounts for the uncertainty of the vehicle’s state in determining whether it can receive a measurement from a sensor. A confidence level is introduced as a tuning parameter that controls the conservativeness of the solution. Consequently, the resulting solution increases the likelihood of the vehicle successfully following its intended trajectory. Finally, due to the interdependence between the sensors’ positions, a novel incremental optimization algorithm is presented which significantly outperforms a standard nonlinear optimization procedure. Experimental and simulation results are shown which characterize the performance of the proposed algorithm.