Setting of moving object location with optimized tree structure

Object tracking is an important part of the common problem for the autonomous motion planning. The main theme of this paper is to propose a data aggregation model for object tracking. Object tracking typically involves two basic operations: update and query. In general, updates of an object’s location are initiated when object moves from one point to another. A query in invoked each time when there is need to find the location of the interested object. Location updates and queries may be done in various ways. We propose a new tree structure for in-network object tracking. The location update part of our solution can be viewed as an extension of [2]. In particular, we take the physical topology of the network into consideration. We will reduce the update cost. Several principles, namely, deviation-avoidance and highest-weight-first ones are pointed out to construct an object tracking tree to reduce the communication cost of location update. Our proposed solution tries to divide the network area into squire-like zones, and recursively combine these zones into a tree.