Search for a mobile target by ground vehicle on a topographic terrain

Moshe Israel, Evgeny Khmelnitsky, Evgeny Kagan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

We address a continuous space search problem, where the searcher and the mobile target are moving on a topographic terrain, and the goal of the searcher is to locate the target in minimum expected time. The detection occurs when the target is located in the searcher's observed area. We assume that the searcher's observed area is bounded by topographic obstacles and changes in time along with the searcher's trajectory. In the report we provide a general algorithm of search, which is applicable to the search for both static and mobile targets. It follows a two-step solution: the first step is a terrain analysis, and at the second step the searcher's path is determined. For all simulated topographies the suggested algorithm converges and provides near-optimal solutions for the search of both static and moving targets even in the cases, where standard methods fail to provide solutions in polynomial time.

Original languageEnglish
Title of host publication2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
DOIs
StatePublished - 2012
Event2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012 - Eilat, Israel
Duration: 14 Nov 201217 Nov 2012

Publication series

Name2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012

Conference

Conference2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
Country/TerritoryIsrael
CityEilat
Period14/11/1217/11/12

Keywords

  • Search and screening
  • navigation of mobile robots
  • path planning

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