论文标题
通过分布式拍卖的协作多雷达跟踪
Collaborative Multi-Radars Tracking by Distributed Auctions
论文作者
论文摘要
在本文中，我们提出了一种算法，该算法位于一组带有旋转天线的静态自主雷达的任务分配领域。它允许一组雷达以完全分散的方式根据其位置分配一组主动跟踪任务，考虑到目标可以通过几个雷达跟踪，以提高跟踪目标的准确性。分配算法使用协作拍卖协议（基于共识的捆绑拍卖算法）通过协作和完全分散的拍卖协议进行。我们的算法基于对雷达中分配方案的双重使用。后者首先分配目标，然后在剩下的资源剩下的情况下启动第二轮分配，以提高已经跟踪的目标的准确性。我们的算法也能够适应动态，即考虑到目标正在移动的事实，并且最适合跟踪它们随着任务的进展而变化的雷达会发生变化。为此，定期重新启动该算法，以确保雷达的出价能够减少，而目标远离目标时会减少。由于我们的算法基于协作拍卖，因此假设目标对此不足以预测。然而，我们的算法是基于能够预期短期目标位置的雷达，这要归功于卡尔曼过滤器。该算法将根据多射线跟踪方案进行说明，其中自主雷达必须遵循一组目标，以减少目标的位置不确定性。在这种情况下，不会考虑待机方面。假定雷达可以在主动追捕中拾取目标，而面积与其距离相对应。
In this paper, we present an algorithm which lies in the domain of task allocation for a set of static autonomous radars with rotating antennas. It allows a set of radars to allocate in a fully decentralized way a set of active tracking tasks according to their location, considering that a target can be tracked by several radars, in order to improve accuracy with which the target is tracked. The allocation algorithm proceeds through a collaborative and fully decentralized auction protocol, using a collaborative auction protocol (Consensus Based Bundle Auction algorithm). Our algorithm is based on a double use of our allocation protocol among the radars. The latter begin by allocating targets, then launch a second round of allocation if theyhave resources left, in order to improve accuracy on targets already tracked. Our algorithm is also able to adapt to dynamism, i.e. to take into account the fact that the targets are moving and that the radar(s) most suitable for Tracking them changes as the mission progresses. To do this, the algorithm is restarted on a regular basis, to ensure that a bid made by a radar can decrease when the target moves away from it. Since our algorithm is based on collaborative auctions, it does not plan the following rounds, assuming that the targets are not predictable enough for this. Our algorithm is however based on radars capable of anticipating the positions of short-term targets, thanks to a Kalman filter. The algorithm will be illustrated based on a multi-radar tracking scenario where the radars, autonomous, must follow a set of targets in order to reduce the position uncertainty of the targets. Standby aspects will not be considered in this scenario. It is assumed that the radars can pick up targets in active pursuit, with an area ofuncertainty corresponding to their distance.
