ASPIRe: An Informative Trajectory Planner with Mutual Information Approximation for Target Search and Tracking
Kangjie Zhou,Pengying Wu,Yao Su,Han Gao,Ji Ma,Hangxin Liu,Chang Liu,Kangjie Zhou,Pengying Wu,Yao Su,Han Gao,Ji Ma,Hangxin Liu,Chang Liu
This paper proposes an informative trajectory planning approach, namely, adaptive particle filter tree with sigma point-based mutual information reward approximation (ASPIRe), for mobile target search and tracking (SAT) in cluttered environments with limited sensing field of view. We develop a novel sigma point-based approximation to accurately estimate mutual information (MI) for general, non-Gau...
