Receding-horizon RRT-Infotaxis for autonomous source search in urban environments

In emergency situations such as hazardous gas leak, search and estimation for identifying source information, known term (STE), in a timely accurate manner is of significant importance. real world situations, obstacles buildings or barriers not only block the path but also interfere flow source. For autonomous using mobile sensor obstacle-rich environments, this paper proposes an information-theoretic STE approach by combining widely-used Infotaxis with rapidly-exploring random trees (RRT). particular, proposed strategy utilizes receding-horizon RRT concept newly designed utility function determining next maneuver agent to get best information while avoiding urban environments. Numerical simulations various environments show superior performance compared original method.