Title :
Distributed shift target estimation using multiple cooperative agents
Author :
Hu, Jiangping ; Hong, Yiguang ; Hu, Xiaoming
Author_Institution :
Sch. of Autom. Eng., Univ. of Electron. Sci. & Technol. of China, Chengdu, China
Abstract :
In this paper we discuss the estimation of a moving target by cooperative agents equipped with sensors. To locate a moving target, a distributed algorithm is given for the networked agents based on a time-based shift. A nonlinear filter with fusing collected sensor information is proposed to estimate the trajectory of the target with unknown dynamics. The convergence of the estimation in the sensor network is analyzed and proved via a theoretic approach.
Keywords :
convergence; distributed sensors; mobile robots; multi-robot systems; nonlinear filters; position control; robot dynamics; sensor fusion; convergence; distributed algorithm; distributed shift target trajectory estimation; moving target estimation; multiple cooperative agent; nonlinear filter; sensor information fusion; sensor network; unknown dynamics; Collaboration; Convergence; Distributed algorithms; Information filtering; Information filters; Information processing; Robotics and automation; Sensor fusion; Target tracking; Trajectory;
Conference_Titel :
Asian Control Conference, 2009. ASCC 2009. 7th
Conference_Location :
Hong Kong
Print_ISBN :
978-89-956056-2-2
Electronic_ISBN :
978-89-956056-9-1
