Observer path planning for maximum information

DOI10.1080/02331934.2021.2011868zbMATH Open1489.49014arXiv2103.02059OpenAlexW4205504913MaRDI QIDQ5077166FDOQ5077166

C. Y. Kaya

Publication date: 18 May 2022

Published in: Optimization (Search for Journal in Brave)

Abstract: This paper is concerned with finding an optimal path for an observer, or sensor, moving at a constant speed, which is to estimate the position of a stationary target, using only bearing angle measurements. The generated path is optimal in the sense that, along the path, information, and thus the efficiency of a potential estimator employed, is maximized. In other words, an observer path is deemed optimal if it maximizes information so that the location of the target is estimated with smallest uncertainty, in some sense. We formulate this problem as an optimal control problem maximizing the determinant of the Fisher information matrix, which is one of the possible measures of information. We derive analytical results for optimality using the Maximum Principle. We carry out numerical experiments and discuss the multiple (locally) optimal solutions obtained. We check graphically that the necessary conditions of optimality are verified by the numerical solutions. Finally we provide a comprehensive list of possible extensions for future work.

Full work available at URL: https://arxiv.org/abs/2103.02059

Recommendations

• scientific article; zbMATH DE number 2112895
• Optimal path planning for information based localization
• Optimal path planning based on visibility
• Visibility-based optimal path and motion planning
• Probing a set of trajectories to maximize captured information
• scientific article
• An information roadmap method for robotic sensor path planning
• Optimal motion planning using navigation measure
• An info-centric trajectory planner for unmanned ground vehicles

zbMATH Keywords

optimal controlFisher informationtarget localizationbang-bang and singular controlobserver path planning

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Discrete approximations in optimal control (49M25) Numerical methods for mathematical programming, optimization and variational techniques (65K99)

Cites Work

• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Runge-Kutta methods in optimal control and the transformed adjoint system
• Functional Analysis, Calculus of Variations and Optimal Control
• Title not available (Why is that?)
• A Survey of the Maximum Principles for Optimal Control Problems with State Constraints
• Title not available (Why is that?)
• Title not available (Why is that?)
• Optimal control
• Error bounds for euler approximation of a state and control constrained optimal control problem¹
• Computational method for time-optimal switching control
• Optimal observer motion for localization with bearing measurements
• Optimization over the efficient set of multi-objective convex optimal control problems
• Euler discretization and inexact restoration for optimal control
• Tracking a manoeuvring target using angle-only measurements: Algorithms and performance
• Inexact restoration for Euler discretization of box-constrained optimal control problems
• A numerical method for nonconvex multi-objective optimal control problems
• Markov-Dubins interpolating curves
• Markov-Dubins path via optimal control theory

Cited In (3)

• Title not available (Why is that?)
• An optimum approach in target tracking with bearing measurements
• Title not available (Why is that?)

Uses Software

• AMPL
• Ipopt

This page was built for publication: Observer path planning for maximum information

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5077166)