Optimal information collection for nonlinear systems- An application to multiple target tracking and localization
Optimal information collection for nonlinear systems- An application to multiple target tracking and localization
复制标题
非线性系统的最优信息采集——在多目标跟踪和定位中的应用
DOI：
10.1109/acc.2013.6580429
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
T. Singh
中科院分区：
文献类型：
--
作者：
Nagavenkat Adurthi;P. Singla;T. Singh
主动传感器需要进行最佳部署或配置，以便在任何给定时间进行最佳测量。然后，直接关注的是在进行测量之前表征或测量传感器性能的问题。本文选择众所周知的互信息概念作为优化传感器参数的效用函数。多目标跟踪的标准问题，使用可配置的传感器安装到无人机，或地面机器人车辆，制定在最佳控制框架，使无人机跟踪的轨迹最大化的信息增益。说明了使用UAV的飞机跟踪的示例。
Active sensors need to be optimally deployed or configured so as to make the best measurements at any given time. Then of immediate concern is the problem of characterising or measuring sensor performance before the measurement has been taken. In this paper, the well known concept of Mutual Information is chosen as the utility function for optimizing the sensor parameters. The standard problem of multiple target tracking using a configurable sensor mounted onto a UAV, or a ground based robot vehicle, is formulated in an optimal control framework such that the trajectory traced by the UAV maximizes the Information gain. An example of airplane tracking using an UAV is illustrated.