| Title: | OS5-2 Global sensor selection for maneuvering target tracking in clutter |
|---|---|
| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 361-364 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.OS5-2 |
| Author(s): | Wenling Li, Yingmin Jia |
| Publication Date: | January 29, 2016 |
| Keywords: | Sensor selection, Jump Markov system, Extended Kalman filter, Maneuvering target tracking, Clutter |
| Abstract: | This paper studies the problem of sensor selection for maneuvering target tracking in the cluttered environment. By modeling the target dynamics as jump Markov linear systems, a decentralized tracking algorithm is developed by applying the extended Kalman filter and the probabilistic data association technique. A cost function that minimizes the expected filtered mean square position error is utilized and a sensor selection scheme is proposed. A numerical example is provided to illustrate the effectiveness of the proposed approach. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/OS/OS5-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
(c)2008 Copyright The Regents of ALife Robotics Corporation Ltd. All Rights Reserved.