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A robot multi-object tracking algorithm in unknown environments
WU Ming , LI Linlin, WEI Zhenhua, WANG Hongqiao
Command Information Engineering Department, The Second Artillery Engineering College, Xian 710025, China
Abstract:In this paper, a particle filtering algorithm based on the joint integrated probabilistic data association (JIPDA) is proposed in order to solve the problem of motile robot multi-object tracking in unknown environments. The Rao-Blackwellized particle filtering is reconstructed based on the JIPDA in the new algorithm. It allows the robot to estimate joint states of itself, environment features and multi-object states simultaneously. The algorithm divides the system variables into two parts: the lineal variable representing multi-object and environment feature states, and the non-linear variable representing robot states. The system state is updated by JIPDA Kalman filtering and particle filtering. Estimation precision of robot states, environment feature states and multi-object states is verified by simulation results, verifying the ability of multi-object tracking in unknown environments.
Key words: robot     simultaneous localization and mapping (SLAM)     multi-object tracking     particle filtering     joint integrated probabilistic data association (JIPDA)     Rao-Blackwellized particle filtering     Kalman filtering
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1 问题描述及联合概率数据关联

k时刻n个目标的状态集合为

2 联合概率数据关联粒子滤波的多目标SLAMOT实现

3 实验结果及分析

3.1 算法跟踪结果

 图 1 PFJPDA_SLAMOT算法多目标跟踪仿真结果 Fig. 1 The results of simulation about multi-object tracking using PFJPDA_SLAMOT

 图 2 各对象轨迹估计局部区域放大 Fig. 2 Object trajectory in some local areas

3.2 粒子数量影响

 图 3 机器人定位精度随粒子数变化情况 Fig. 3 Localization accuracy of robot as a function of the number of particles

 图 4 目标定位精度随粒子数变化情况 Fig. 4 Localization accuracy of objects as a function of the number of particles

4 结束语

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DOI: 10.3969/j.issn.1673-4785.201405051

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#### 文章信息

WU Ming, LI Linlin, WEI Zhenhua, WANG Hongqiao

A robot multi-object tracking algorithm in unknown environments

CAAI Transactions on Intelligent Systems, 2015, 10(03): 448-453.
DOI: 10.3969/j.issn.1673-4785.201405051