Tracking point or diffusing targets using mobile sensor networks under sensing noises

This paper presents a distributed algorithm for a mobile sensor network to track targets with unknown motion. We formulates the target tracking as a multi-objective optimization problem which integrates the tracking quality, the energy saving and the network connectivity. To cope with sensing noises, we use the determinant of the covariance matrix of target estimation as the tracking quality measure and compute its partial derivatives for the optimization process. Virtual nodes are introduced to represent obstacles in the environment. Furthermore this algorithm can be extended to solve the problem of source tracking where sensors can only detect the density of the diffusing substances emitted by the source. Therefore a whole tracking framework has been set up which can be easily extended for applications under complicated situations. Simulations demonstrate the effectiveness of the proposed algorithm in energy conservation and tracking accuracy under different situations.

Authors

• Yingying Li
• Yun-Hui Liu 0001

Keywords

• Target tracking
• Covariance matrix
• Noise measurement
• Robot sensing systems
• Force control
• Mechanical sensors
• Sensor systems
• Working environment noise
• Sensor phenomena and characterization
• Mobile communication
• Sensor Networks
• Mobile Sensor Networks
• Quality Measures
• Optimization Process
• Energy Conservation
• Partial Differential
• Multi-objective Optimization
• Mobile Network
• Tracking Problem
• Distributed Algorithm
• Track Quality
• Tracking Framework
• Virtual Nodes
• Higher Density
• Vertical Line
• Emission Sources
• Jacobian Matrix
• Node Positions
• Obstacle Avoidance
• Point Target
• Node Density
• Neighbor List
• High-density Regions