Autonomous Robots

, Volume 32, Issue 1, pp 1–14

Target tracking without line of sight using range from radio

Authors

    • Computer Science Department, Viterbi School of EngineeringUniversity of Southern California
  • Joseph Djugash
    • Robotics Institute, School of Computer ScienceCarnegie Mellon University
  • Sanjiv Singh
    • Robotics Institute, School of Computer ScienceCarnegie Mellon University
Article

DOI: 10.1007/s10514-011-9239-y

Cite this article as:
Hollinger, G.A., Djugash, J. & Singh, S. Auton Robot (2012) 32: 1. doi:10.1007/s10514-011-9239-y

Abstract

We propose a framework for utilizing fixed ultra-wideband ranging radio nodes to track a moving target radio node in an environment without guaranteed line of sight or accurate odometry. For the case where the fixed nodes’ locations are known, we derive a Bayesian room-level tracking method that takes advantage of the structural characteristics of the environment to ensure robustness to noise. For the case of unknown fixed node locations, we present a two-step approach that first reconstructs the target node’s path using Gaussian Process Latent Variable models (GPLVMs) and then uses that path to determine the locations of the fixed nodes. We present experiments verifying our algorithm in an office environment, and we compare our results to those generated by online and batch SLAM methods, as well as odometry mapping. Our algorithm is successful at tracking a moving target node without odometry and mapping the locations of fixed nodes using radio ranging data that are both noisy and intermittent.

Keywords

Range sensingSensor networksTarget tracking

Supplementary material

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Copyright information

© Springer Science+Business Media, LLC 2011