Feb. 2023

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Article Navigation> Transactions of Beijing institute of Technology> 2023> 43(2): 151-160

LIU Haiou, HAN Yuxuan, LIU Qingxiao, LI Shihao, CHEN Huiyan, CHEN Li. Search Strategy Based on Sensors with Different Detection Distances[J]. Transactions of Beijing institute of Technology, 2023, 43(2): 151-160. doi: 10.15918/j.tbit1001-0645.2022.109

Citation:

LIU Haiou, HAN Yuxuan, LIU Qingxiao, LI Shihao, CHEN Huiyan, CHEN Li. Search Strategy Based on Sensors with Different Detection Distances[J].Transactions of Beijing institute of Technology, 2023, 43(2): 151-160.doi:10.15918/j.tbit1001-0645.2022.109

Citation:

LIU Haiou, HAN Yuxuan, LIU Qingxiao, LI Shihao, CHEN Huiyan, CHEN Li. Search Strategy Based on Sensors with Different Detection Distances[J].Transactions of Beijing institute of Technology, 2023, 43(2): 151-160.doi:10.15918/j.tbit1001-0645.2022.109

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Search Strategy Based on Sensors with Different Detection Distances

doi:10.15918/j.tbit1001-0645.2022.109

1.
School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
2.
Northern Information Control Research Academy Group , Nanjing , Jiangsu 211153, China

Received Date:2022-05-05

Abstract

Abstract

In order to improve the efficiency of existing random search methods, a search strategy was proposed to reconnoiter a hidden-object of the reconnaissance mission. The strategy, called combined planning path and combined sensor search method (CP&CS), was designed mainly to be applied to unmanned ground vehicles equipped with different detection range sensors. In CP&CS, a sensor-based goaled rapidly-exploring random tree was arranged to plan the global path towards the hidden object. Besides, a heuristic A* method was utilized to deal with the narrow channel formed by obstacles. A simulation experiment was designed to validate the proposed strategy. The results show that in a simulation environment with 250 meter radius and occlusions, compared with the path deformation strategy with short-range sensors, the CP&CS method can improve the search efficiency by 3.11 times and shortens the length of planned path by 9.63%. Compared with goaled RRT search strategy with long-range sensors, the CP&CS method can improve the search efficiency by 3.53 times and shortens the length of planned path by 12.06%. The experimental results prove the superiority of the proposed CP&CS strategy in hidden-object search of reconnaissance mission.
- target search,
- multi sensor mapping,
- A* path planning,
- ground unmanned maneuver platform

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References (17)

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