Tracking a Moving Target in Cluttered Environments with Ranging Radios: Extended Results

نویسندگان

  • Geoffrey Hollinger
  • Joseph Djugash
  • Sanjiv Singh
چکیده

In this technical report, we propose a framework for utilizing fixed, ultra-wideband ranging radio nodes to track a moving target node through walls in a cluttered environment. We examine both the case where the locations of the fixed nodes are known as well as the case where they are unknown. For the case when the fixed node 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. We also develop a method using mixtures of Gaussians to model the noise characteristics of the radios. For the case of unknown fixed node locations, we present a twostep approach that first reconstructs the target node’s path and then uses that path to determine the locations of the fixed nodes. We reconstruct the path by projecting down from a higher-dimensional measurement space to the 2D environment space using non-linear dimensionality reduction with Gaussian Process Latent Variable Models (GPLVMs). We then utilize the reconstructed path to map the locations of the fixed nodes using a Bayesian occupancy grid. We present experimental results verifying our algorithm in an office environment, and we compare our results to those generated by methods using Extended Kalman Filter (EKF) SLAM and odometry mapping. Our algorithm is successful at tracking a moving target node and mapping the locations of fixed nodes using radio ranging data that are both noisy and intermittent.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

A Novel Method for Tracking Moving Objects using Block-Based Similarity

Extracting and tracking active objects are two major issues in surveillance and monitoring applications such as nuclear reactors, mine security, and traffic controllers. In this paper, a block-based similarity algorithm is proposed in order to detect and track objects in the successive frames. We define similarity and cost functions based on the features of the blocks, leading to less computati...

متن کامل

Formation Control and Path Planning of Two Robots for Tracking a Moving Target

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...

متن کامل

Experiments on Through-the-Wall Motion Detection and Ranging

In this paper, we consider moving target detection and ranging for indoor sensing applications in urban environments. A simple method is used to determine the unambiguous range of an indoor moving target using dual frequency continuous wave (CW) radars. The dual-frequency radar employs two different carrier frequencies and simultaneously measures the phase change with respect to time, for each ...

متن کامل

Designing a predictive guidance and control system for maneuverable ground moving target tracking in 3D space using a Hexarotor

In this paper, the continuity of tracking a ground moving target using a Hexarotor is considered in the presence of sudden changes in direction, deceptive movements, temporary departure from the field of view (FOV) and changes in the height of the target. In this regard, a hierarchical guidance and control system for target tracking problem in an unknown environment and disturbances is proposed...

متن کامل

Robust visual tracking by an active observer

In this paper we address the problem of tracking a moving target by a monocular observer. The ability to track a moving object has many applications in robotics, teleoperation, surveillance systems, human-machine interfaces, etc. Our goal was the development of a robust tracking system for practical (industrial) applications and therefore based on inexpensive hardware. The strategy we present i...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2008