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Chance-constrained target tracking using sensors with bounded fan-shaped sensing regions

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Abstract

We present a robust target tracking algorithm for a mobile robot. It is assumed that a mobile robot carries a sensor with a fan-shaped field of view and finite sensing range. The goal of the proposed tracking algorithm is to minimize the probability of losing a target. If the distribution of the next position of a moving target is available as a Gaussian distribution from a motion prediction algorithm, the proposed algorithm can guarantee the tracking success probability. In addition, the proposed method minimizes the moving distance of the mobile robot based on the chosen bound on the tracking success probability. While the considered problem is a non-convex optimization problem, we derive a closed-form solution when the heading is fixed and develop a real-time algorithm for solving the considered target tracking problem. We also present a robust target tracking algorithm for aerial robots in 3D. The performance of the proposed method is evaluated extensively in simulation. The proposed algorithm has been successful applied in field experiments using Pioneer mobile robot with a Microsoft Kinect sensor for following a pedestrian.

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Notes

  1. http://msdn.microsoft.com/en-us/library/hh973074.aspx.

  2. Vicon MX motion capture system. Available at http://www.vicon.com/.

  3. To generate the same walking pattern for all 10 trials, we slow down all the settings of the system.

  4. http://www.ros.org.

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Acknowledgements

This work was in part supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (NRF-2017R1A2B2006136). The smart shopping cart experiment was made possible by contributions of Jinyoung Choi and Sunwoo Lee.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, ASRI, Seoul National University, Seoul, 08826, Korea

    Yoonseon Oh, Sungjoon Choi & Songhwai Oh

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  1. Yoonseon Oh
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  2. Sungjoon Choi
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  3. Songhwai Oh
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Corresponding author

Correspondence to Songhwai Oh.

Additional information

A preliminary version of this work appeared in Oh et al. (2015).

This is one of several papers published in Autonomous Robots comprising the Special Issue on Active Perception.

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Oh, Y., Choi, S. & Oh, S. Chance-constrained target tracking using sensors with bounded fan-shaped sensing regions. Auton Robot 42, 307–327 (2018). https://doi.org/10.1007/s10514-017-9656-7

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