Mobile Sensor Path Planning for Multi-region Surveillance with Different Mission Importances

摘要

This paper considers the path planning problem for mobile platform equipped with monostatic radar. The aim is to maximize the radar surveillance performance in disjoint areas of interest (AOIs) with different mission importances by adjusting the positions of mobile sensor dynamically, while satisfying the min/max speed constraints and turning angle constraint among each movement. To evaluate the radar surveillance performance of all AOIs, we propose an information collection ratio metric based on detection probability of the radar system for AOIs at each moment. For the challenge of high dimensionality, we present an algorithm based on particle swarm optimization (PSO) to solve this constrained optimization problem (COP). Finally, simulation results verify the feasibility of the algorithm.