Cooperative Level Curve Tracking in Advection-Diffusion Fields
Cooperative Level Curve Tracking in Advection-Diffusion Fields
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DOI：
10.1109/cacre50138.2020.9230059
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发表时间：
2020-09
期刊：
影响因子：
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通讯作者：
Sachin Guruswamy;Wencen Wu
中科院分区：
文献类型：
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作者：
Sachin Guruswamy;Wencen Wu
在跟踪和监测野火传播等许多应用中，时空变化场中的水平曲线跟踪是一个重要的问题。本文研究了在有障碍物的平流扩散场中，利用传感智能体协作群的水平曲线跟踪问题。我们实现了一种考虑场的时空变化特性的协同卡尔曼滤波，在连续两个时间步估计场值和梯度，并将其用于适用于智能体编队中心的运动控制律中，使编队中心能够检测和跟踪平流扩散场中所需的水平曲线值。在运动控制律设计中考虑了避障问题。仿真结果表明了该策略的有效性。
Level curve tracking in a spatial-temporal varying field is an important problem in many applications such as tracking and monitoring the propagation of a wildfire. In this paper, we investigate the level curve tracking problem using a collaborating group of sensing agents in an advection-diffusion field with obstacles. We implement a cooperative Kalman filter that takes into consideration the spatial-temporal varying property of the field to estimate the field value and gradient at two consecutive time steps, which are used in the motion control law that applies to the center of the agent formation so that the center of the formation is able to detect and track a desired level curve value in the advection-diffusion field. Obstacle avoidance is considered in the motion control law design. Simulations show satisfactory results of the proposed strategy.