Road Target Search and Tracking with Gimballed Vision Sensor on an Unmanned Aerial Vehicle 英文参考文献.docVIP

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Road Target Search and Tracking with Gimballed Vision Sensor on an Unmanned Aerial Vehicle 英文参考文献.doc

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Road Target Search and Tracking with Gimballed Vision Sensor on an Unmanned Aerial Vehicle 英文参考文献

RemoteSens.2012,4,2076-2111;doi:10.3390/rs4072076 OPENACCESS RemoteSensing ISSN2072-4292 /journal/remotesensing Article RoadTargetSearchandTrackingwithGimballedVisionSensor onanUnmannedAerialVehicle PerSkoglar 1,2,?,UmutOrguner 1 ,DavidT¨ornqvist andFredrikGustafsson 1 1 1 DivisionofAutomaticControl,DepartmentofElectricalEngineering(ISY),Link¨opingUniversity, SE-58183Link¨oping,Sweden;E-Mails:umut@isy.liu.se(U.O.);tornqvist@isy.liu.se(D.T.); fredrik@isy.liu.se(F.G.) 2 DepartmentofSensorandEWSystems,SwedishDefenceResearchAgency(FOI),Box1165, SE-58111Link¨oping,Sweden ? Authortowhomcorrespondenceshouldbeaddressed;E-Mail:skoglar@isy.liu.se; Tel.:+46-13-282-636. Received:17May2012;inrevisedform:2July2012/Accepted:4July2012/ Published:12July2012 Abstract: Thisarticleconsidersasensormanagementproblemwhereanumberofroad bounded vehicles are monitored by an unmanned aerial vehicle (UAV) with a gimballed vision sensor. The problem is to keep track of all discovered targets and simultaneously search for new targets by controlling the pointing direction of the vision sensor and the motion of the UAV. A planner based on a state-machine is proposed with three different modes;targettracking,knowntargetsearch,andnewtargetsearch. Ahigh-leveldecision maker chooses among these sub-tasks to obtain an overall situational awareness. A utilitymeasureforevaluatingthecombinedsearchandtargettrackingperformanceisalso proposed. By using this measure it is possible to evaluate and compare the rewards of updatingknowntargetsversussearchingfornewtargetsinthesameframework.Thetargets areassumedtoberoadboundedandtheroadnetworkinformationisusedbothtoimprove thetrackingandsensormanagementperformance. Thetrackingandsearcharebasedon ?exibletargetdensityrepresentationsprovidedbyparticlemixturesanddeterministicgrids. Keywords:UAVsurveillance;sensormanagement;pathplanning;searchtheory;roadtarget tracking;particle?lter;stochasticscheduling;securityandmonitoring RemoteS