Real-Time Moving Target Evaluation Search

In this correspondence, we address the problem of real-time moving target search in dynamic and partially observable environments, and propose an algorithm called real-time moving target evaluation search (MTES). MTES is able to detect the closed directions around the agent and determines the estima...

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Bibliographic Details
Published in:IEEE transactions on human-machine systems 2009-05, Vol.39 (3), p.366-372
Main Authors: Undeger, C., Polat, F.
Format: Article
Language:English
Subjects:
Algorithm design and analysis
Algorithms
Applied sciences
Computational modeling
Computer science
control theory
systems
Computer simulation
Control theory. Systems
Convergence
Costs
Cybernetics
Dynamic tests
Dynamical systems
Dynamics
Exact sciences and technology
Mesh generation
Military computing
Moving target search
Moving targets
Path planning
Real time
real-time path planning
Robot kinematics
Robotics
Searching
Testing
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Summary:In this correspondence, we address the problem of real-time moving target search in dynamic and partially observable environments, and propose an algorithm called real-time moving target evaluation search (MTES). MTES is able to detect the closed directions around the agent and determines the estimated best direction to capture a moving target avoiding the obstacles nearby. We have also developed a new prey algorithm (Prey-A*) to test the existing and our predator algorithms in our experiments. We have obtained an impressive improvement over moving target search, real-time target evaluation search, and real-time edge follow with respect to path length. Furthermore, we have also tested our algorithm against A*.
ISSN:1094-6977
2168-2291
1558-2442
2168-2305
DOI:10.1109/TSMCC.2009.2009545