Multi-Agent Network Target Tracking Method Based on Improved Adaptive Particle Filter
A particle filter and multi-agent technology, applied in image data processing, instrumentation, computing, etc., can solve the problems of particle degradation diversity and loss, and achieve particle degradation mitigation, effectiveness assurance, strong robustness and intelligence Effect
Active Publication Date: 2018-05-25
郎溪品旭科技发展有限公司
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[0004] To overcome the problems of particle degradation and diversity loss in traditional particle filter tracking technology, the present invention proposes a multi-agent network target tracking method based on improved adaptive particle filter, fully utilizes multi-agent coordination technology, and introduces more intelligent Intelligent particle particles improve the real-time efficiency of filtering and broaden the application scope of particle filter target tracking technology
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[0034] see figure 1 , and the present invention will be further described in detail in conjunction with the examples.
[0035] (1) Particle screening:
[0036] The basic principle of screening is that when the distance between particles of adjacent agents is lower than the preset threshold value γ, keep the particles with relatively large weights between them, and remove the particles with small weights. Specifically, sort and sort the agent particles of a certain dimension in the state space. Compared to the random sampling set in Indicates the state value of particle i at time t, we use Represents the state set of the state vector x of the particle i sorted by the d-th dimension. After sorting, adjacent particles are compared and screened according to the Euclidean distance formula:
[0037]
[0038] When the above condition is established, compare the weights of these two particles, if reserve Otherwise, keep If the condition of the above formula is not es...
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The invention discloses a method for multi-agent network object tracking based on improved adaptive particle filtering. The method includes the following steps: (1) through the combination of a multi-agent cooperation technology and a traditional particle filter, proposing an agent particle possessing local communication, perceiving and self-learning capabilities; (2) arranging and ordering a certain dimension value of the agent particle in a state space, when the distance between adjacent particles is shorter than a preset threshold value, reserving the particle which has a comparatively greater weight; (3) through innovation knowledge provided by system estimation and a predicated difference, in resampling phase, conducting online adaptive adjustment on sampled particle numbers, normalizing weight before conducting state estimation on an object position.
Description
technical field [0001] The invention relates to the fields of multi-agent network coordination technology and target tracking technology, in particular to an improved adaptive particle filter-based multi-agent network target tracking method. Background technique [0002] Multi-agent systems (multi-agent systems) are a network system formed by a group of agents with certain perception, communication, calculation and execution capabilities through communication. Although a single agent (agent) has certain functions, due to the limitation of individual ability and knowledge resources, it is often impossible to effectively solve some complex problems with a single force. Multi-agent system coordination technology is to effectively combine these individual individuals and coordinate their behavior in a certain way, so that the overall system has stronger problem-solving ability and intelligence than a single agent. In various fields such as military, aerospace, and industry, mul...
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IPC IPC(8): G06T7/20
CPCG06T7/20G06T2207/10016G06T2207/20076
Inventor 伍益明何熊熊郑境易李胜
Owner 郎溪品旭科技发展有限公司