A Hybrid Strategy for Target Search Using Static and Mobile Sensors

摘要: Locating a mobile target, untrackable in real-time, is pertinent to numerous time-critical applications, such as wilderness search and rescue. This paper proposes hybrid approach this dynamic problem, where both static sensors are utilized for the goal of detecting target. The novel that team robots deploy static-sensor network also actively searches target via on-board sensors. Synergy achieved through: 1) optimal deployment planning networks 2) routing motion search. planned first maximize likelihood detection while ensuring (temporal spatial) unbiasedness motion. Robot motions are, subsequently, two stages: route trajectory planning. In stage, given configuration, robot routes amount spare time available agents/sensors, between ( just-in-time ) deployments. second (i.e., sequences sensor delivery locations times), corresponding trajectories make effective use any agents may have proposed strategy was validated through extensive simulations, some which detail here. An analysis method’s performance terms target-search success included.