In radar systems,target tracking errors are mainly from motion models and nonlinear measurements.When we evaluate a tracking algorithm,its tracking accuracy is the main criterion.To improve the tracking accuracy,in th...In radar systems,target tracking errors are mainly from motion models and nonlinear measurements.When we evaluate a tracking algorithm,its tracking accuracy is the main criterion.To improve the tracking accuracy,in this paper we formulate the tracking problem into a regression model from measurements to target states.A tracking algorithm based on a modified deep feedforward neural network(MDFNN)is then proposed.In MDFNN,a filter layer is introduced to describe the temporal sequence relationship of the input measurement sequence,and the optimal measurement sequence size is analyzed.Simulations and field experimental data of the passive radar show that the accuracy of the proposed algorithm is better than those of extended Kalman filter(EKF),unscented Kalman filter(UKF),and recurrent neural network(RNN)based tracking methods under the considered scenarios.展开更多
Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on...Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.展开更多
In this paper, the problems of target tracking and obstacle avoidance for multi-agent networks with input constraints are investigated. When there is a moving obstacle, the control objectives are to make the agents tr...In this paper, the problems of target tracking and obstacle avoidance for multi-agent networks with input constraints are investigated. When there is a moving obstacle, the control objectives are to make the agents track a moving target and to avoid collisions among agents. First, without considering the input constraints, a novel distributed controller can be obtained based on the potential function. Second, at each sampling time, the control algorithm is optimized. Furthermore, to solve the problem that agents cannot effectively avoid the obstacles in dynamic environment where the obstacles are moving, a new velocity repulsive potential is designed. One advantage of the designed control algorithm is that each agent only requires local knowledge of its neighboring agents. Finally, simulation results are provided to verify the effectiveness of the proposed approach.展开更多
The presence of systematic measuring errors complicates track-to-track association, spatially separates the tracks that correspond to the same true target, and seriously decline the performances of traditional track-t...The presence of systematic measuring errors complicates track-to-track association, spatially separates the tracks that correspond to the same true target, and seriously decline the performances of traditional track-to-track association algorithms. Consequently, the influence of radar systematic errors on tracks from different radars, which is described as some rotation and translation, has been analyzed theoretically in this paper. In addition, a novel approach named alignment-correlation method is developed to estimate and reduce this effect, align and correlate tracks accurately without prior registration using phase correlation technique and statistic binary track correlation algorithm. Monte-Carlo simulation results illustrate that the proposed algorithm has good performance in solving the track-to-track association problem with systematic errors in radar network and could provide effective and reliable associated tracks for the next step of registration.展开更多
Collocated multiple input multiple output(MIMO)radar,which has agile multi-beam working mode,can offer enhanced multiple targets tracking(MTT)ability.In detail,it can illuminate different targets simultaneously with m...Collocated multiple input multiple output(MIMO)radar,which has agile multi-beam working mode,can offer enhanced multiple targets tracking(MTT)ability.In detail,it can illuminate different targets simultaneously with multi-beam or one wide beam among multi-beam,providing greater degree of freedom in system resource control.An adaptive time-space resource and waveform control optimization model for the collocated MIMO radar with simultaneous multi-beam is proposed in this paper.The aim of the proposed scheme is to improve the overall tracking accuracy and meanwhile minimize the resource consumption under the guarantee of effective targets detection.A resource and waveform control algorithm which integrates the genetic algorithm(GA)is proposed to solve the optimization problem.The optimal transmitting waveform parameters,system sampling period,sub-array number,binary radar tracking parameterχ_i(t_k),transmitting energy and multi-beam direction vector combination are chosen adaptively,where the first one realizes the waveform control and the latter five realize the timespace resource allocation.Simulation results demonstrate the effectiveness of the proposed control method.展开更多
Multi-target tracking is facing the difficulties of modeling uncertain motion and observation noise.Traditional tracking algorithms are limited by specific models and priors that may mismatch a real-world scenario.In ...Multi-target tracking is facing the difficulties of modeling uncertain motion and observation noise.Traditional tracking algorithms are limited by specific models and priors that may mismatch a real-world scenario.In this paper,considering the model-free purpose,we present an online Multi-Target Intelligent Tracking(MTIT)algorithm based on a Deep Long-Short Term Memory(DLSTM)network for complex tracking requirements,named the MTIT-DLSTM algorithm.Firstly,to distinguish trajectories and concatenate the tracking task in a time sequence,we define a target tuple set that is the labeled Random Finite Set(RFS).Then,prediction and update blocks based on the DLSTM network are constructed to predict and estimate the state of targets,respectively.Further,the prediction block can learn the movement trend from the historical state sequence,while the update block can capture the noise characteristic from the historical measurement sequence.Finally,a data association scheme based on Hungarian algorithm and the heuristic track management strategy are employed to assign measurements to targets and adapt births and deaths.Experimental results manifest that,compared with the existing tracking algorithms,our proposed MTIT-DLSTM algorithm can improve effectively the accuracy and robustness in estimating the state of targets appearing at random positions,and be applied to linear and nonlinear multi-target tracking scenarios.展开更多
目前智能空调的研究主要基于视觉或红外传感器,基于单个4D毫米波雷达的相对较少。采用单个4D毫米波雷达传感器采集数据,根据不同目标反射点位置的不同提出了密度聚类(Density-Based Spatial Clustering of Application with Noise,DBSC...目前智能空调的研究主要基于视觉或红外传感器,基于单个4D毫米波雷达的相对较少。采用单个4D毫米波雷达传感器采集数据,根据不同目标反射点位置的不同提出了密度聚类(Density-Based Spatial Clustering of Application with Noise,DBSCAN)算法实现目标的聚类识别,并与K均值(K-means)聚类算法进行了效果对比。针对多目标跟踪问题,设计了一种基于联合概率数据关联算法(Joint Probabilistic Data Association,JPDA)和卡尔曼滤波(Kalman Filter,KF)的目标跟踪算法,从而实现多目标的匹配和跟踪。将所研究的算法应用到4D毫米波雷达系统,并在室内采集了行人目标数据,分析对比实际场景和算法跟踪效果,误差大约在8 cm内,准确率可达91.8%。结果表明:该算法可以较好地实现多目标跟踪,可用于智能空调中。展开更多
This paper addresses the problem of coordinating multiple mobile robots in searching for and capturing a mobile target,with the aim of reducing the capture time.Compared with the previous algorithms,we assume that the...This paper addresses the problem of coordinating multiple mobile robots in searching for and capturing a mobile target,with the aim of reducing the capture time.Compared with the previous algorithms,we assume that the target can be detected by any robot and captured successfully by two or more robots.In this paper,we assume that each robot has a limited communication range.We maintain the robots within a mobile network to guarantee the successful capture.In addition,the motion of the target is modeled and incorporated into directing the motion of the robots to reduce the capture time.A coordination algorithm considering both aspects is proposed.This algorithm can greatly reduce the expected time of capturing the mobile target.Finally,we validate the algorithm by the simulations and experiments.展开更多
基金Project supported by the National Natural Science Foundation of China(Nos.61931015,62071335,and 61831009)the Natural Science Foundation of Hubei Province,China(No.2021CFA002)。
文摘In radar systems,target tracking errors are mainly from motion models and nonlinear measurements.When we evaluate a tracking algorithm,its tracking accuracy is the main criterion.To improve the tracking accuracy,in this paper we formulate the tracking problem into a regression model from measurements to target states.A tracking algorithm based on a modified deep feedforward neural network(MDFNN)is then proposed.In MDFNN,a filter layer is introduced to describe the temporal sequence relationship of the input measurement sequence,and the optimal measurement sequence size is analyzed.Simulations and field experimental data of the passive radar show that the accuracy of the proposed algorithm is better than those of extended Kalman filter(EKF),unscented Kalman filter(UKF),and recurrent neural network(RNN)based tracking methods under the considered scenarios.
基金the National Natural Science Foundation of China(No.61627810)the Joint Fund of Advanced Aerospace Manufacturing Technology Research(No.2017-JCJQ-ZQ-031)the National Science and Technology Major Program of China(No.2018YFB1305003)。
文摘Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.
基金supported by National Basic Research Program of China (973 Program) (No. 2010CB731800)Key Project of National Science Foundation of China (No. 60934003)+2 种基金National Nature Science Foundation of China (No. 61074065)Key Project for Natural Science Research of Hebei Education Department, PRC(No. ZD200908)Key Project for Shanghai Committee of Science and Technology (No. 08511501600)
文摘In this paper, the problems of target tracking and obstacle avoidance for multi-agent networks with input constraints are investigated. When there is a moving obstacle, the control objectives are to make the agents track a moving target and to avoid collisions among agents. First, without considering the input constraints, a novel distributed controller can be obtained based on the potential function. Second, at each sampling time, the control algorithm is optimized. Furthermore, to solve the problem that agents cannot effectively avoid the obstacles in dynamic environment where the obstacles are moving, a new velocity repulsive potential is designed. One advantage of the designed control algorithm is that each agent only requires local knowledge of its neighboring agents. Finally, simulation results are provided to verify the effectiveness of the proposed approach.
文摘The presence of systematic measuring errors complicates track-to-track association, spatially separates the tracks that correspond to the same true target, and seriously decline the performances of traditional track-to-track association algorithms. Consequently, the influence of radar systematic errors on tracks from different radars, which is described as some rotation and translation, has been analyzed theoretically in this paper. In addition, a novel approach named alignment-correlation method is developed to estimate and reduce this effect, align and correlate tracks accurately without prior registration using phase correlation technique and statistic binary track correlation algorithm. Monte-Carlo simulation results illustrate that the proposed algorithm has good performance in solving the track-to-track association problem with systematic errors in radar network and could provide effective and reliable associated tracks for the next step of registration.
基金supported by the National Natural Science Foundation of China(61671137)。
文摘Collocated multiple input multiple output(MIMO)radar,which has agile multi-beam working mode,can offer enhanced multiple targets tracking(MTT)ability.In detail,it can illuminate different targets simultaneously with multi-beam or one wide beam among multi-beam,providing greater degree of freedom in system resource control.An adaptive time-space resource and waveform control optimization model for the collocated MIMO radar with simultaneous multi-beam is proposed in this paper.The aim of the proposed scheme is to improve the overall tracking accuracy and meanwhile minimize the resource consumption under the guarantee of effective targets detection.A resource and waveform control algorithm which integrates the genetic algorithm(GA)is proposed to solve the optimization problem.The optimal transmitting waveform parameters,system sampling period,sub-array number,binary radar tracking parameterχ_i(t_k),transmitting energy and multi-beam direction vector combination are chosen adaptively,where the first one realizes the waveform control and the latter five realize the timespace resource allocation.Simulation results demonstrate the effectiveness of the proposed control method.
基金supported by the National Natural Science Foundation of China(No.62276204)Open Foundation of Science and Technology on Electronic Information Control Laboratory,Natural Science Basic Research Program of Shanxi,China(Nos.2022JM-340 and 2023-JC-QN-0710)China Postdoctoral Science Foundation(Nos.2020T130494 and 2018M633470).
文摘Multi-target tracking is facing the difficulties of modeling uncertain motion and observation noise.Traditional tracking algorithms are limited by specific models and priors that may mismatch a real-world scenario.In this paper,considering the model-free purpose,we present an online Multi-Target Intelligent Tracking(MTIT)algorithm based on a Deep Long-Short Term Memory(DLSTM)network for complex tracking requirements,named the MTIT-DLSTM algorithm.Firstly,to distinguish trajectories and concatenate the tracking task in a time sequence,we define a target tuple set that is the labeled Random Finite Set(RFS).Then,prediction and update blocks based on the DLSTM network are constructed to predict and estimate the state of targets,respectively.Further,the prediction block can learn the movement trend from the historical state sequence,while the update block can capture the noise characteristic from the historical measurement sequence.Finally,a data association scheme based on Hungarian algorithm and the heuristic track management strategy are employed to assign measurements to targets and adapt births and deaths.Experimental results manifest that,compared with the existing tracking algorithms,our proposed MTIT-DLSTM algorithm can improve effectively the accuracy and robustness in estimating the state of targets appearing at random positions,and be applied to linear and nonlinear multi-target tracking scenarios.
文摘目前智能空调的研究主要基于视觉或红外传感器,基于单个4D毫米波雷达的相对较少。采用单个4D毫米波雷达传感器采集数据,根据不同目标反射点位置的不同提出了密度聚类(Density-Based Spatial Clustering of Application with Noise,DBSCAN)算法实现目标的聚类识别,并与K均值(K-means)聚类算法进行了效果对比。针对多目标跟踪问题,设计了一种基于联合概率数据关联算法(Joint Probabilistic Data Association,JPDA)和卡尔曼滤波(Kalman Filter,KF)的目标跟踪算法,从而实现多目标的匹配和跟踪。将所研究的算法应用到4D毫米波雷达系统,并在室内采集了行人目标数据,分析对比实际场景和算法跟踪效果,误差大约在8 cm内,准确率可达91.8%。结果表明:该算法可以较好地实现多目标跟踪,可用于智能空调中。
基金supported by the National Natural Science Foundation of China(No.60434030)
文摘This paper addresses the problem of coordinating multiple mobile robots in searching for and capturing a mobile target,with the aim of reducing the capture time.Compared with the previous algorithms,we assume that the target can be detected by any robot and captured successfully by two or more robots.In this paper,we assume that each robot has a limited communication range.We maintain the robots within a mobile network to guarantee the successful capture.In addition,the motion of the target is modeled and incorporated into directing the motion of the robots to reduce the capture time.A coordination algorithm considering both aspects is proposed.This algorithm can greatly reduce the expected time of capturing the mobile target.Finally,we validate the algorithm by the simulations and experiments.