TY - GEN
T1 - Target tracking based on federated filter for mobile sensor networks
AU - Jiang, Shanshan
AU - Dou, Lihua
AU - Fang, Hao
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2014/11/25
Y1 - 2014/11/25
N2 - In this paper, we introduce a collaborative target tracking method which couples distributed estimation and motion control of mobile sensor networks. To estimate the target state, we develop a distributed federated filter (DFF) approach where only local communication between sensors is required. This DFF algorithm has superiority in tolerance of the target system noise and can acquire accurate estimation even if the model of the target is not accurate. We value informationdistribution and information-fusion weights in the DFF according to the measurement situations of sensors. Then a flocking-based motion control method is proposed to track maneuvering targets. During the process of tracking, velocity matching and collision avoidance among mobile sensors are guaranteed. Finally, this coupled estimation and control algorithm is successfully simulated to track a linear-dynamics target with non-zero acceleration. Simulation results verify the performance and superiority of our method.
AB - In this paper, we introduce a collaborative target tracking method which couples distributed estimation and motion control of mobile sensor networks. To estimate the target state, we develop a distributed federated filter (DFF) approach where only local communication between sensors is required. This DFF algorithm has superiority in tolerance of the target system noise and can acquire accurate estimation even if the model of the target is not accurate. We value informationdistribution and information-fusion weights in the DFF according to the measurement situations of sensors. Then a flocking-based motion control method is proposed to track maneuvering targets. During the process of tracking, velocity matching and collision avoidance among mobile sensors are guaranteed. Finally, this coupled estimation and control algorithm is successfully simulated to track a linear-dynamics target with non-zero acceleration. Simulation results verify the performance and superiority of our method.
KW - cooperative tracking control
KW - federated filter
KW - flocking control
KW - mobile sensor networks
UR - http://www.scopus.com/inward/record.url?scp=84919458128&partnerID=8YFLogxK
U2 - 10.1109/ICCSNT.2013.6967332
DO - 10.1109/ICCSNT.2013.6967332
M3 - Conference contribution
AN - SCOPUS:84919458128
T3 - Proceedings of 2013 3rd International Conference on Computer Science and Network Technology, ICCSNT 2013
SP - 1263
EP - 1268
BT - Proceedings of 2013 3rd International Conference on Computer Science and Network Technology, ICCSNT 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2013 3rd International Conference on Computer Science and Network Technology, ICCSNT 2013
Y2 - 12 October 2013 through 13 October 2013
ER -