Chance-constrained target tracking for mobile robots

Yoonseon Oh, Sungjoon Choi, Songhwai Oh

Research output: Contribution to journalConference articlepeer-review

4 Citations (Scopus)


This paper presents a robust target tracking algorithm for a mobile sensor with a fan-shaped field of view and finite sensing range. The goal of the mobile robot is to track a moving target such that the probability of losing the target is minimized. We assume that the distribution of the next position of a moving target can be estimated using a motion prediction algorithm. If the next position of a moving target has the Gaussian distribution, the proposed algorithm can guarantee the tracking success probability. In addition, the proposed method minimizes the moving distance of the mobile robot based on a bound on the tracking success probability. While the problem considered in this paper is a non-convex optimization problem, we derive analytical solutions which can be easily solved in real-time. The performance of the proposed method is evaluated extensively in simulation and validated in pedestrian following experiments using a Pioneer mobile robot with a Microsoft Kinect sensor.

Original languageEnglish
Article number7139031
Pages (from-to)409-414
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue numberJune
Publication statusPublished - 2015 Jun 29
Externally publishedYes
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 2015 May 262015 May 30

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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