DocumentCode :
3525104
Title :
Autonomous search and counter-targeting using Levy search models
Author :
Stevens, Timothy ; Chung, Tae Hun
Author_Institution :
Oper. Res. Dept., Naval Postgrad. Sch., Monterey, CA, USA
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
3953
Lastpage :
3960
Abstract :
In this study, we explore the use of nondeterministic search trajectories to accomplish a two-fold mission of mobile robot search for a stationary target while avoiding counter-targeting by the adversary throughout the operation. We analyze the characteristics associated with a Levy distribution of search leg lengths to generate appropriate randomized search trajectories. We discuss the alteration of the probability distribution of the Levy search as a result of the method utilized to best address the presence of the bounded search area and confine the searcher within its boundaries. Through regression analysis of simulation results, we determine expressions for the coverage ratio evolution of the modified Levy search strategy and the distribution on time to target detection TD, from which we are able to calculate the expected time, E[TD], to detect the target uniformly distributed within the search area. We assert assumptions regarding the adversary´s detection and tracking abilities to estimate the expected time, E[TC], required for it to counter target the searcher. From these two expected times, we construct a novel probabilistic mission performance metric that measures the likelihood that the searcher will detect the target before it is counter targeted itself.
Keywords :
autonomous aerial vehicles; mobile robots; object detection; regression analysis; search problems; statistical distributions; target tracking; trajectory control; Levy search leg length distribution; autonomous search; bounded search area; counter-targeting; coverage ratio evolution; levy search models; modified Levy search strategy; nondeterministic search trajectories; probabilistic mission performance metric; probability distribution; randomized search trajectories; regression analysis; stationary target search; target detection; two-fold mobile robot search mission; Analytical models; Legged locomotion; Mathematical model; Radiation detectors; Search problems; Standards; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631134
Filename :
6631134
Link To Document :
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