Optimal sensors deployment for tracking level curve based on posterior Cramer-Rao lower bound in scalar field
文献类型：会议论文
| 作者 | Zhao WT(赵文涛) ; Yu JC(俞建成); Zhang AQ(张艾群); Li Y(李岩)
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| 出版日期 | 2014 |
| 会议名称 | The 7th International Conference on Intelligent Robotics and Application (ICIRA2014) |
| 会议日期 | December 17-20, 2014. |
| 会议地点 | Guangzhou, China |
| 关键词 | Adaptive space distance algorithm Posterior Cramér-Rao Lower Bound (PCRLB) Gliders cooperation Feature tracking Level curve |
| 页码 | 129-141 |
| 通讯作者 | 赵文涛 |
| 中文摘要 | This paper focuses on discussing the space distance of gliders in a group for level curve tracking task. A developed adaptive space distance algorithm for glider formation based on Posterior Cramér-Rao Lower Bound (PCRLB) is proposed. For a feature-tracking application with scalar sensors, gliders are adopted to track a level curve in 2D space. In this work, the white noise from the measurement process and oceanic background is taken into account, as well as the effect of omitting the higher order terms in the Taylor series and roughly estimated Hessian Matrix. Since the PCRLB is an effective criterion to quantify the performance of all unbiased nonlinear estimators of the target state, our adaptive space distance algorithm for gliders may be functional when implemented with many kinds of nonlinear filters together. Finally, the performance of the proposed algorithm in this study is evaluated on simulated platforms by applying it with the Extended Kalman Filter(EKF) and Particle Filter. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | South China University of Technology, China |
| 会议录 | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
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| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-319-13965-4 |
| WOS记录号 | WOS:000354872700013 |
| 源URL | [http://ir.sia.cn/handle/173321/15317]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Zhao WT,Yu JC,Zhang AQ,et al. Optimal sensors deployment for tracking level curve based on posterior Cramer-Rao lower bound in scalar field[C]. 见:The 7th International Conference on Intelligent Robotics and Application (ICIRA2014). Guangzhou, China. December 17-20, 2014.. |
入库方式： OAI收割
来源：沈阳自动化研究所
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