Target Tracking using Robust Sensor Motion Control

TL;DR

This paper presents a control strategy for mobile sensors to effectively track moving targets by maximizing target resolvability, considering minimal assumptions on target dynamics and using various measurement techniques.

Contribution

It introduces a novel control law for sensor motion that enhances target tracking under bounded acceleration assumptions and is computationally efficient.

Findings

Effective tracking achieved with the proposed control law.

Method performs well with different measurement types.

Experimental validation demonstrates robustness and efficiency.

Abstract

We consider the problem of tracking moving targets using mobile wireless sensors (of possibly different types). This is a joint estimation and control problem in which a tracking system must take into account both target and sensor dynamics. We make minimal assumptions about the target dynamics, namely only that their accelerations are bounded. We develop a control law that determines the sensor motion control signals so as to maximize target resolvability as the target dynamics evolve. The method is given a tractable formulation that is amenable to an efficient search method and is evaluated in a series of experiments involving both round-trip time based ranging and Doppler frequency shift measurements