6533b7cffe1ef96bd125982e

RESEARCH PRODUCT

Optimal placement of 3D sensors considering range and field of view

Joacim DybedalGeir Hovland

subject

Mathematical optimizationLinear programming020207 software engineeringField of view02 engineering and technologySolverNonlinear systemRange (mathematics)0202 electrical engineering electronic engineering information engineeringRedundancy (engineering)Piecewise020201 artificial intelligence & image processingMATLABcomputerMathematicscomputer.programming_language

description

This paper describes a novel approach to the problem of optimal placement of 3D sensors in a specified volume of interest. The coverage area of the sensors is modelled as a cone having limited field of view and range. The volume of interest is divided into many, smaller cubes each having a set of associated Boolean and continuous variables. The proposed method could be easily extended to handle the case where certain sub-volumes must be covered by several sensors (redundancy), for example ex-zones, regions where humans are not allowed to enter or regions where machine movement may obstruct the view of a single sensor. The optimisation problem is formulated as a Mixed-Integer Linear Program (MILP) utilising logical constraints and piecewise linearisation of nonlinear functions. The final MILP problem is solved using the Cplex solver interfaced with Matlab.

yearjournalcountryeditionlanguage
2017-07-012017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
https://doi.org/10.1109/aim.2017.8014245