Autonomous search for mines. II. Hierarchical search using sensory data
Autonomous search for mines. II. Hierarchical search using sensory data
- New search for: Cao, Yonghuan
- New search for: Gelenbe, E.
- New search for: Cao, Yonghuan
- New search for: Gelenbe, E.
Typically, a human agent or a robotic device may sweep a suspected minefield in a systematic up and down pattern. In this paper we consider alternative search patterns which take advantage of a priori knowledge of the minefield. In our previous work (1998), a gradient based search algorithm has been designed and shown to be an effective search strategy using simulations on hypothetical minefield data. This paper considers a suite of fast search heuristics based on a hierarchical two level approach, and evaluates these algorithms with the realistic sensory data, specifically the electromagnetic sensory data from DARPA. The heuristics considered include a hierarchical version of our gradient based algorithm, a nearest neighbor type greedy heuristic, and a heuristic which is inspired from an approximate solution of the travelling salesman problem.
Document information
Autonomous search for mines. II. Hierarchical search using sensory data
1998
11 Seiten, 16 Quellen
Conference paper
English
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