An improved method for multi-target tracking

被引：0

作者：

Department of Computer Science and Technology, Harbin Institute of Technology, Harbin, 150001, China ^{[1
]}

机构：

[1] Department of Computer Science and Technology, Harbin Institute of Technology, Harbin

来源：

Inf. Technol. J. | 2007年 / 5卷 / 725-732期

关键词：

APF; Local density; Multi-robot; Multi-target tracking; Observation;

D O I：

10.3923/itj.2007.725.732

中图分类号：

学科分类号：

摘要：

We propose a novel distributed algorithm based on local density of robots and targets to multi-target tracking. In this approach each robot computes the numbers and coordinates of neighbor robots within its communicating range and targets within its sensing range based on the latest tracking information. Utilizing these data construct their virtual potential fields. Each robot independently moves to next position according to the sum of force resulted from the fields. The force is multiplied to a weighted factor based on the local density of robots and targets. The performance of the algorithm is evaluated through simulation experiment. Simulation Experimental results indicate that robots are able to distribute themselves appropriately in response to the movement of targets. The algorithm performs better than the artificial potential field approach with the fixed weighted factor for multi-target tracking. © 2007 Asian Network for Scientific Information.

引用

页码：725 / 732

页数：7

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