DocumentCode :
567582
Title :
Minimum time-error planning horizon for plan updating triggered by Poisson random events
Author :
Pitre, Ryan R. ; Li, X. Rong ; Xiong, Lie
Author_Institution :
Electr. Eng. Dept., Univ. of New Orleans, New Orleans, LA, USA
fYear :
2012
fDate :
9-12 July 2012
Firstpage :
1261
Lastpage :
1268
Abstract :
Trajectory planning is essential in many applications, such as search and track missions by unmanned aerial vehicles (UAV). In a dynamic situation, events that call for a plan change may occur. Such events include the arrival of a new command or intelligence, detection of a new target, loss of a UAV, a sudden change of weather, etc. Therefore, a plan update is necessary and an appropriate time horizon for re-planning must be determined. If it is too long or too short, the updated plan may be poor. Unfortunately, there is little research in the selection of a planning horizon. This work presents a planning horizon that is optimal in the sense of minimizing errors in planning time. It is intended for use in mission planning but has many other applications. We model the rate of interrupting events as Poisson distributed with a known rate parameter. This paper shows the relationship between the optimal planning horizon and this rate parameter. To test the proposed planning horizon, a predator-prey scenario is simulated to compare different planning horizons. Simulation results are encouraging. While the proposed horizon is optimal in minimizing planning time errors, it is also near optimal in minimizing the average time needed to capture the prey.
Keywords :
Poisson distribution; autonomous aerial vehicles; path planning; predator-prey systems; random processes; target tracking; Poisson distribution; Poisson random; UAV; minimum time-error planning horizon; mission planning; optimal planning horizon; predator-prey scenario; trajectory planning; unmanned aerial vehicles; Equations; Exponential distribution; Indexes; Interrupters; Planning; Predator prey systems; Sensors; Optimal planning horizon; errors in planning time; overshoot; path planning; route planning; sensor management; undershoot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Information Fusion (FUSION), 2012 15th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4673-0417-7
Electronic_ISBN :
978-0-9824438-4-2
Type :
conf
Filename :
6289952
Link To Document :
بازگشت