2:00 pm Monday, October 13, 2014
Math-ICES Center of Numerical Analysis Seminar: Optimal path for a scan of the entire environment under limited sensing range by Seong Jun Kim (Mathematics, Georgia Tech) in RLM 10.176
We propose a computational strategy to find the optimal path for a mobile sensor with limited range to traverse a cluttered region and achieve complete coverage of the environment. We first pose the problem in the level set framework, and consider a related question of placing multiple stationary sensors to obtain the full surveillance of the environment. The locations of the stationary sensors are then used for the initialization of the path for the moving sensor. The path is optimized by following the gradient flow of the connecting points, which is a system of ODEs, to shrink its length while maintaining the complete coverage of the environment. Furthermore, we use intermittent diffusion, which converts the ODEs into SDEs, to find the global optimal solution. In addition, we introduce two techniques, disentanglement and removing redundant connecting points in the system of SDEs, to reduce the dimension of the system and improve the efficiency of the computation. This is a joint work with Haomin Zhou and Sung Ha Kang Submitted by
|
|