The Journal of Korean Institute of Communications and Information Sciences (한국통신학회논문지)

The Korean Institute of Commucations and Information Sciences (한국통신학회)
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Location Estimation for Multiple Targets Using Tree Search Algorithms under Cooperative Surveillance of Multiple Robots

다중로봇 협업감시 시스템에서 트리 탐색 기법을 활용한 다중표적 위치 좌표 추정

  • 박소령 (가톨릭대학교 정보통신전자공학부 통신신호처리 연구실) ;
  • 노상욱 (가톨릭대학교 컴퓨터정보공학부 지능형시스템 연구실)
  • Received : 2013.07.31
  • Accepted : 2013.09.05
  • Published : 2013.09.30
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Abstract

This paper proposes the location estimation techniques of distributed targets with the multi-sensor data perceived through IR sensors of the military robots. In order to match up targets with measured azimuths, we apply the maximum likelihood (ML), depth-first, and breadth-first tree search algorithms, in which we use the measured azimuths and the number of pixels on IR screen for pruning branches and selecting candidates. After matching up targets with azimuths, we estimate the coordinate of each target by obtaining the intersection point of the azimuths with the least square error (LSE) algorithm. The experimental results show the probability of missing target, mean of the number of calculating nodes, and mean error of the estimated coordinates of the proposed algorithms.

이 논문에서는 적외선 센서를 가진 다수의 감시 로봇에서 획득한 정보를 융합하여 분산되어있는 표적의 위치 좌표를 추정하는 기법을 제안한다. 방위각(azimuth)과 표적을 대응시키는 방법으로 최대-우도(maximum likelihood), 깊이-우선(depth-first), 너비-우선(breadth-first) 트리 탐색(tree search) 기법을 각각 적용하며, 후보선정 및 가지치기(pruning)에 사용하는 정보는 표적의 방위각과 적외선 센서 화면에서 표적의 픽셀 수만을 활용한다. 방위각과 표적이 대응된 후에는 하나의 표적을 가리키는 방위각들에 최소 제곱 오차(least square error) 알고리듬을 적용하여 최적 교점을 구함으로써 표적의 위치 좌표를 추정한다. 제안한 세 가지 탐색 기법 및 위치 추정 기법의 좌표 추정성능, 복잡도, 오차 성능을 모의실험으로 제시하여 성능을 비교한다.

Keywords

References

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