Information measure for the optimal control of target searching via the grid-based method

Abstract

This paper presents an autonomous search technique that enables vehicles to uniformly search for moving targets within a recursive Bayesian estimation (RBE) framework. The detailed process of the grid-based method for the search task is introduced: prediction and update steps of the grid-based filter are thoroughly explained. Entropic information is selected as information measure for the optimal control strategy. The N-step look-ahead planning in terms of future observations is associated with the grid-based approach. Finally, the numerical analysis was conducted to show the performance of the proposed technique for the optimal search.

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Cite this paper

@article{Sung2016InformationMF, title={Information measure for the optimal control of target searching via the grid-based method}, author={Yoonchang Sung and Tomonari Furukawa}, journal={2016 19th International Conference on Information Fusion (FUSION)}, year={2016}, pages={2075-2080} }