Optimal sensor placement and motion coordination for target tracking

被引：420

作者：

Martínez, S

Bullo, F

机构：

[1] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA

[2] Univ Calif Santa Barbara, Dept Mech & Environm Engn, Santa Barbara, CA 93106 USA

来源：

AUTOMATICA | 2006年 / 42卷 / 04期

基金：

美国国家科学基金会;

关键词：

motion coordination; optimal sensor placement; Fisher Information Matrix; Kalman filtering;

D O I：

10.1016/j.automatica.2005.12.018

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work studies optimal sensor placement and motion coordination strategies for mobile sensor networks. For a target-tracking application with range sensors, we investigate the determinant of the Fisher Information Matrix and compute it in the 2D and 3D cases, characterizing the global minima in the 2D case. We propose motion coordination algorithms that steer the mobile sensor network to an optimal deployment and that are amenable to a decentralized implementation. Finally, our numerical simulations illustrate how the proposed algorithms lead to improved performance of an extended Kalman filter in a target-tracking scenario. (c) 2006 Elsevier Ltd. All rights reserved.

引用

页码：661 / 668

页数：8

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