Decentralized Mobile Target Tracking Using Consensus-Based Estimation with Nearly-Constant-Velocity Modeling
Fuente:
arXiv
Guardado en:
| Autores principales: | , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2024
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866915367458177024 |
|---|---|
| author | Ghods, Amir Ahmad Doostmohammadian, Mohammadreza |
| author_facet | Ghods, Amir Ahmad Doostmohammadian, Mohammadreza |
| contents | Mobile target tracking is crucial in various applications such as surveillance and autonomous navigation. This study presents a decentralized tracking framework utilizing a Consensus-Based Estimation Filter (CBEF) integrated with the Nearly-Constant-Velocity (NCV) model to predict a moving target's state. The framework facilitates agents in a network to collaboratively estimate the target's position by sharing local observations and achieving consensus despite communication constraints and measurement noise. A saturation-based filtering technique is employed to enhance robustness by mitigating the impact of noisy sensor data. Simulation results demonstrate that the proposed method effectively reduces the Mean Squared Estimation Error (MSEE) over time, indicating improved estimation accuracy and reliability. The findings underscore the effectiveness of the CBEF in decentralized environments, highlighting its scalability and resilience in the presence of uncertainties. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_03095 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Decentralized Mobile Target Tracking Using Consensus-Based Estimation with Nearly-Constant-Velocity Modeling Ghods, Amir Ahmad Doostmohammadian, Mohammadreza Multiagent Systems Robotics Systems and Control Signal Processing Optimization and Control I.2.9; C.2.4; G.1.6 Mobile target tracking is crucial in various applications such as surveillance and autonomous navigation. This study presents a decentralized tracking framework utilizing a Consensus-Based Estimation Filter (CBEF) integrated with the Nearly-Constant-Velocity (NCV) model to predict a moving target's state. The framework facilitates agents in a network to collaboratively estimate the target's position by sharing local observations and achieving consensus despite communication constraints and measurement noise. A saturation-based filtering technique is employed to enhance robustness by mitigating the impact of noisy sensor data. Simulation results demonstrate that the proposed method effectively reduces the Mean Squared Estimation Error (MSEE) over time, indicating improved estimation accuracy and reliability. The findings underscore the effectiveness of the CBEF in decentralized environments, highlighting its scalability and resilience in the presence of uncertainties. |
| title | Decentralized Mobile Target Tracking Using Consensus-Based Estimation with Nearly-Constant-Velocity Modeling |
| topic | Multiagent Systems Robotics Systems and Control Signal Processing Optimization and Control I.2.9; C.2.4; G.1.6 |
| url | https://arxiv.org/abs/2412.03095 |