Gathering Bearing Data for Target Localization
| Autor: | Volkan Isler, Haluk Bayram, Joshua Vander Hook |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
Dilution of precision
0209 industrial biotechnology Engineering Mathematical optimization Control and Optimization Directional antenna business.industry Total cost Mechanical Engineering Biomedical Engineering Approximation algorithm 020206 networking & telecommunications 02 engineering and technology Bearing (navigation) Computer Science Applications Human-Computer Interaction Set (abstract data type) 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering 0202 electrical engineering electronic engineering information engineering Robot Measurement uncertainty Computer Vision and Pattern Recognition business |
| Zdroj: | IEEE Robotics and Automation Letters. 1:369-374 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2016.2521387 |
| Popis: | We consider the problem of gathering bearing data to localize targets. We start with a commonly used notion of uncertainty based on geometric dilution of precision (GDOP) and study the following bicriteria problem. Given a set of potential target areas and an uncertainty level $U$ , compute an ordered set of measurement locations for a single robot which 1) minimizes the total cost given by the travel time plus the time spent in taking measurements and 2) ensures that the uncertainty in estimating the target’s location is at most $U$ regardless of the targets’ locations. We present an approximation algorithm and prove that its cost is at most 28.9 times the optimal cost while guaranteeing that the uncertainty is at most $5.5U$ . In addition to theoretical analysis, we validate the results in simulation and experiments performed with a directional antenna used for tracking invasive fish. |
| Databáze: | OpenAIRE |
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