[1]WANG Huaxian,HUA Rong,LIU Huaping,et al.Self-organizing feature map method for multi-target active perception of unmanned aerial vehicle systems[J].CAAI Transactions on Intelligent Systems,2020,15(3):609-614.[doi:10.11992/tis.201908022]
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Self-organizing feature map method for multi-target active perception of unmanned aerial vehicle systems

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 15 Number of periods: 2020 3 Page number: 609-614 Column: 吴文俊人工智能科学技术奖论坛 Public date: 2020-05-05
Title:
Self-organizing feature map method for multi-target active perception of unmanned aerial vehicle systems
Author(s):
WANG Huaxian1;  HUA Rong1;  LIU Huaping2;  ZHAO Huailin1;  SUN Fuchun2
1. School of Electrical and Electronics Engineering, Shanghai Institute of Technology, Shanghai 201499, China;
2. State Key Lab of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China
Keywords:
multi-robot system; active perception; traveling salesman problem; self-organizing mapping network; path planning; heterogeneous robot; Bézier curve; path smoothing
CLC:
TP391.9
DOI:
10.11992/tis.201908022
Abstract:
It is known that the robots fitted with cameras, also sometimes called as unmanned aerial vehicles, are used to monitor inaccessible areas. The data sent by robots are analyzed through various artificial neural networks. Active vision is particularly important to cope with problems like occlusions, limited field of view, and limited resolution of the camera. In view of the active vision difficulty faced in active perception system, this paper proposes an active perception framework of heterogeneous robots based on the self-organizing feature map, a type of multi-objective active learning algorithm, and plans the shortest smooth path for the drone team to traverse all the targets. First, the multi-target active perception scene is modeled as multiple traveling salesmen problem with neighborhood. After that, the self-organizing mapping network is used to find the shortest closed-loop track for travel time, and then the track is smoothed with the third-order Bézier curve, a parametric curve. The simulation results and comparative experiments show that proposed method has better effects in the application of multi-objective active perception.
References:
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