PMHT Path Planning in a non-Homogeneous Environment

Abstract

This paper considers the problem of automatically coordinating multiple platforms to explore an unknown environment. A newly developed method for this problem consists of deterministically placing locales within the region and then using the Probabilistic Multi-Hypothesis Tracker (PMHT) to associate these locales with the platforms at specific times. The method uses an integer number of locales at discrete locations to guide the platforms. This paper extends the method to instead guide the platforms using a continuous valued non-uniform intensity map over a continuous spatial domain. The existing method is shown to be a discretised approximation to the continuous intensity map.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2012
Accession Number
ADA562962

Entities

People

  • Brian Cheung
  • Douglas Gray
  • Samuel Davey

Organizations

  • Defence Science and Technology Group

Tags

Communities of Interest

  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Data Association
  • Environment
  • Grids
  • Information Processing
  • Intensity
  • Motion Planning
  • Multiple Hypothesis Tracking
  • Multitarget Tracking
  • Platforms
  • Probability
  • Probability Hypothesis Density Filters
  • Random Variables
  • Simultaneous Localization And Mapping
  • Spatial Distribution
  • Standards
  • Target Tracking

Fields of Study

  • Computer science

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Systems Analysis and Design