Summary
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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
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)
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)
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)
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)
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)
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)
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)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Bandyopadhyay, T., Hsu, D., Ang, M.H. (2009). Motion Strategies for People Tracking in Cluttered and Dynamic Environments. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_53
Download citation
DOI: https://doi.org/10.1007/978-3-642-00196-3_53
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00195-6
Online ISBN: 978-3-642-00196-3
eBook Packages: EngineeringEngineering (R0)