Motion Strategies for People Tracking in Cluttered and Dynamic Environments
The key contribution of this work is the construction of a robot tracking system that follows an unpredictable target (e.g people) in cluttered, unknown and dynamic environments. To do so, mobility constraints, sensor limitations, and uncertainty have been addressed at both the algorithmic and implementation levels. The work formulates target tracking as minimizing an objective function that models the risk of the target’s escape and derives this risk function from basic principles. Various practical hardware limitations – e.g., sensor’s field of view, safe navigation – are taken into account either as part of the risk function or as constraints during risk minimization. The resulting tracker demonstrates substantially improved performance, compared with other local online strategies. The tracker was able to track a person walking around in indoor office environments as well as in a highly dynamic and public environment like the school cafeteria successfully.
KeywordsObstacle Avoidance Visual Servo Motion Strategy Target Path Range Edge
Unable to display preview. Download preview PDF.
- 1.Bandyopadhyay, T., Ang Jr., M., Hsu, D.: Motion planning for 3-d target tracking among obstacles. In: Proc. Int. Symp. on Rob. Springer, Heidelberg (2007)Google Scholar
- 2.Bandyopadhyay, T., Li, Y., Ang Jr., M., Hsu, D.: A greedy strategy for tracking a locally predictable target among obstacles. In: Proc. IEEE Int. Conf. on Robotics & Automation, pp. 2342–2347 (2006)Google Scholar
- 3.Efrat, A., González-Baños, H., Kobourov, S., Palaniappan, L.: Optimal strategies to track and capture a predictable target. In: Proc. IEEE. Int. Conf. on Robotics & Automation, pp. 3789–3796 (2003)Google Scholar
- 4.González-Baños, H., Lee, C.-Y., Latombe, J.-C.: Real-time combinatorial tracking of a target moving unpredictably among obstacles. In: Proc. IEEE Int. Conf. on Robotics & Automation, pp. 1683–1690 (2002)Google Scholar
- 5.LaValle, S., González-Baños, H., Becker, C., Latombe, J.: Motion strategies for maintaining visibility of a moving target. In: Proc. IEEE Int. Conf. on Robotics & Automation, pp. 731–736 (1997)Google Scholar
- 6.Murrieta, R., Sarmiento, A., Hutchinson, S.: A motion planning strategy to maintain visibility of a moving target at a fixed distance in a polygon. In: IEEE Int. Conf. on Robotics & Automation (2003)Google Scholar
- 7.Murrieta-Cid, R., González-Baños, H., Tovar, B.: A reactive motion planner to maintain visibility of unpredictable targets. In: Proc. IEEE. Int. Conf. on Robotics & Automation, pp. 4242–4248 (2002)Google Scholar