Probabilistic multi‐hypothesis tracker for multiple platform path planning. Issue 3 (1st March 2015)

• Record Type: Journal Article
• Authors: Cheung, Brian; Davey, Samuel; Gray, Douglas
• Is Part Of: IET radar, sonar & navigation. Volume 9:Issue 3(2015)
• Page Start: 255
• Page End: 265
• Publication Date: 2015-03-01
• Subjects: path planning -- target tracking -- probability -- sensor fusion -- genetic algorithms -- travelling salesman problems; multiple platform path planning -- nonhomogeneous priority function -- target tracking problem -- probabilistic multihypothesis tracker -- PMHT‐pp -- multiple platform batch data association -- genetic algorithm -- multitravelling salesman problem -- PMHT path planner; Signal processing -- Periodicals; Radar -- Periodicals; Sonar -- Periodicals; Electronics in navigation -- Periodicals; Navigation -- Periodicals; 621.3848
• DOI: 10.1049/iet-rsn.2014.0089
• Languages: English
• ISSNs: 1751-8784

Abstract

Abstract : This study considers the problem of automatically coordinating multiple platforms to explore an unknown environment. The goal is a planning algorithm that provides a path for each platform in such a way that the collection of platforms cooperatively sense the environment in a globally efficient manner. The environment is described by a spatially non‐homogeneous priority function. The method samples this function to produce a discrete collection of locales that the platforms use as waypoints. The key feature of the method is to treat the assignment of locales to platforms as a target tracking problem and to use the probabilistic multi‐hypothesis tracker (PMHT) as a method of performing multi‐platform batch data association. This paper introduces the PMHT path planner (PMHT‐pp) and compares this algorithm as a method of performing multiple platform batch data association with the Genetic Algorithm to solve the modified multi‐travelling salesman problem.