[1]WU Ming,LI Guangyu,WEI Zhenhua,et al.Bearing only target tracking and observability control of a mobile robot[J].CAAI Transactions on Intelligent Systems,2022,17(5):919-930.[doi:10.11992/tis.202107066]
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Bearing only target tracking and observability control of a mobile robot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 17 Number of periods: 2022 5 Page number: 919-930 Column: 学术论文—机器学习 Public date: 2022-09-05
Title:
Bearing only target tracking and observability control of a mobile robot
Author(s):
WU Ming1;  LI Guangyu2;  WEI Zhenhua1;  WANG Hongqiao1
1. Information System Office, Xi’an High Technology Research Institute, Xi’an 710025, China;
2. Teaching Department, Shaanxi Radio and TV University, Xi’an 710023, China
Keywords:
object tracking; bearing only observation; SLAM; robot navigation control; monocular visual navigation; observability control; autonomous mobile platform; monocular vision
CLC:
TP242.6
DOI:
10.11992/tis.202107066
Abstract:
To address the object tracking issue of a mobile robot based on monocular vision in an unknown environment, a method for robotic simultaneous localization, map building, and object tracking is proposed, combining the object state estimation with the observability control of a mobile robot. Regarding state estimation, based on robot monocular visual simultaneous localization and mapping, a target tracking algorithm under the extended Kalman filtering framework is designed. Considering the observability control, an optimal control method based on updating the maximization of the target covariance matrix is designed. Using the monocular vision, this method can synchronously estimate the robot’s own state, environmental state, and target state, as well as the target following. The simulation and prototype experiments verify the coupling relationship between the target state estimation and robot control, demonstrating the effectiveness and accuracy of the method. The results indicate that by employing this method, the robot can generate a spiral maneuvering trajectory, and the accuracy of target tracking and robot positioning is directly proportional to its maneuvering ability.
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