Decentralized Time-Based Target Searching Algorithm Using Sensor Network Topology Maps

Real-time target search path planning is a ubiquitous problem present in various areas such as search and rescue, military, and security. In this paper, we consider a search for a static target and a moving target in an unknown environment full of obstacles. The knowledge of target location or direction is obtained by time sets recorded by each sensor node to specify the time instances that the target moved in its sensing region. Our objective is to find the shortest feasible path in a decentralized procedure. The search is conducted by a mobile agent that performs all decision-making procedures based on its local neighborhood sensor information, such as location and the time that the target was seen. A proposed topology map algorithm that does not need any special hardware device embedded with the sensors obtains the sensor locations. The result shows that the proposed algorithm has been able to find the moving target that changes its moving pattern during the search. In addition, the mobile agent avoids the obstacles and searches for the target in an effective way.