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Moving target tracking with free final-time is a special case of optimal control problem where both the final state and the final time are free but dependent on each other. In this paper, the necessary first order conditions for a candidate optimal trajectory and admissible optimal control inputs for a two wheeled differential drive robot have been derived in the light of Pontryagin's Maximum Principle...
In view of the phenomenon that the factors of occluded target and it's changed background lead to failure in the process of tracking, a MTF (Mean-shift by TWH and FBerror) tracking algorithm is proposed. Firstly, TargetWeighted Histogram (TWH) is introduced to describe target in Mean-shift tracking framework, i.e., using local-background of target to weaken inner-background features of all-region...
Coordinated target tracking is one of the most important applications in multiple UAVs cooperative control, and coordinated standoff tracking of random moving targets is presented in this paper. Based on the Fisher Information Matrix (FIM), an analytical one-step determinant of FIM is introduced, and the optimal measurement configuration in cooperative tracking is obtained by multiple UAVs equipped...
In mobile robotic applications, a common problem is the following of a given trajectory with a constant velocity. Using standard model predictive control (MPC) for tracking of time varying trajectories leads to a constant tracking error. This problem is modelled in this paper as quadrotor position tracking problem. The presented solution is a computationally light-weight target position control (TPC),...
In this paper an optimal control method for parafoil system homing planning is introduced, which includes multi-phase homing arrangement, optimal homing path calculation using genetic algorithm(GA), and Bezier curves based path planning for parafoil terminal guidance to deal with the situation of variable glide ratios. L1 nonlinear algorithm is adopted to make trajectory tracking. Comparison simulations...
In consider of docking task of AUV and underwater moving platform, an AUV tracking controller is designed. In this controller, target trajectory is calculated to determine AUV expected velocity and heading angle, during which, Lyapunov stability law is followed. An AUV heading angle and velocity controller is designed based on active disturbance rejection controller (ADRC) considered the perturbation...
We have developed a real-time ball tracking system that can be used for volleyball games. Although a number of methods for visual object tracking have been proposed, tracking a fast-moving ball is still a challenging task because of the motion blur and the occlusion. We thus use a complementary tracking scheme in which tracking processes for multiple cameras help each other sharing the 3D position...
There is a big challenge in online multi-object tracking-by-detection, which caused by frequent occlusions, false alarms or miss detections and other factors. In this paper, we proposed an improved fast online multi-object tracking method through taking into account the results of multiple single-object trackers and detections synthetically. To solve the fixed scale problem of conventional kernelized...
Holonomic vehicles possess enhanced maneuverability over differential drive systems, which offers increased flexibility in narrow passages. This paper describes a real-time policy for generating an energy optimal path for tracking a moving object, by a four wheeled holonomic mobile robot. Artificial potential field has been employed as the discrete-time path planner and a piecewise continuous optimal...
This paper discusses the possibilities of employing adaptive filtering techniques for tracking of a civilian aircraft in Air traffic control scenario. Position and velocity of the aircraft have been estimated by Adaptive Kalman filters and Adaptive Extended Kalman filters using Standard Uniform motion (UM) and Coordinated turn (CT) models. The performances of the adaptive estimators for such cases...
In this paper, we introduce the multi-drone platform which is realized by swarm algorithm. One of the most challenging problems when maneuvering multiple drones is guaranteeing collision avoidance. Since our swarm algorithm is based on the artificial potential function(APF), collision avoidance between quadrotors is guaranteed. First, the constructive way to generate swarm controller will be given...
In this paper, we propose a mutual framework that combines two state-of-the-art visual object tracking algorithms. Both trackers benefit from each other's advantage leading to an efficient visual tracking approach. Many state-of-the-art trackers have poor performance due to rain, fog or occlusion in real-world scenarios. Often, after several frames, objects are getting lost, only leading to a short-term...
JAMSTEC has proposed an operation of multiple AUVs using an ASV (Autonomous Surface Vehicle) to improve survey efficiency. For this purpose, an ASV “MAINAMI” with a length of 6 meters has been developed since 2013. The vehicle is equipped with an acoustic communication device and a satellite one, in order to relay information between an AUV and operators on a ship or on land. In February 2016, its...
Probability Hypothesis Density (PHD) filter has proven to be a valid algorithm for jointly estimating the time-varying number of targets and their states. However, the filter can only provide the estimates of the set of targets states but not the complete tracks of individual targets. To solve this problem, we present a track extraction method based on the targets' topology information. Simulation...
A moving target tracking filter using images extracted from a fixed camera attached to a flying platform is proposed. The often conflicting objectives to optimally control the platform motion and to maintain a target in the field of the view of the non-gimbled camera are addressed using the estimation filter that combines a cubic spline technique with a Sigma Point Kalman Filter (SPKF). The spline...
In this paper, we examine multi-target search, where one or more targets must be found by a moving robot. Given the target's initial probability distribution or the expected search region, we present an analysis of three search strategies - Global maxima search, Local maxima search, and Spiral search. We aim at minimizing the mean-time-to-find and maximizing the total probability of finding the target...
We address the challenging problem of tracking a moving target in cluttered environments using a quadrotor. Our online trajectory planning method generates smooth, dynamically feasible, and collision-free polynomial trajectories that follow a visually-tracked moving target. As visual observations of the target are obtained, the target trajectory can be estimated and used to predict the target motion...
PRaVDA is an advanced imaging and dosimetry system for proton therapy with solid-state sensors throughout. The residual energy resolving detector (range telescope) can be composed of multiple layers of CMOS imagers. Such imagers, though operating at relatively low frame rates, can record many protons events per read cycle. The challenge is to identify the non-linear tracks of individual protons through...
One factor of human sperm health is sperm motility. Motility is the ability of sperm to move. Sperm with healthy motility move forward promptly, not inactive and not moving in circles. In this paper, we would like to analyse sperm motility by considering the problem of multi object tracking in video sequences of human sperms. The challenges in multi-sperm tracking are many human sperms have fast and...
Object occlusion is widespread in video surveillance due to the influence of angle and environment, which brings a great impact on the target tracking and makes the development of video object tracking encountered meeting many constraints. The challenge in video object tracking is how to track accurately when the target is obscured. We use the frame difference method to detect the target and smooth...
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