Chance-constrained target tracking using sensors with bounded fan-shaped sensing regions

Yoonseon Oh, Sungjoon Choi, Songhwai Oh

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


We present a robust target tracking algorithm for a mobile robot. It is assumed that a mobile robot carries a sensor with a fan-shaped field of view and finite sensing range. The goal of the proposed tracking algorithm is to minimize the probability of losing a target. If the distribution of the next position of a moving target is available as a Gaussian distribution from a motion prediction algorithm, the proposed algorithm can guarantee the tracking success probability. In addition, the proposed method minimizes the moving distance of the mobile robot based on the chosen bound on the tracking success probability. While the considered problem is a non-convex optimization problem, we derive a closed-form solution when the heading is fixed and develop a real-time algorithm for solving the considered target tracking problem. We also present a robust target tracking algorithm for aerial robots in 3D. The performance of the proposed method is evaluated extensively in simulation. The proposed algorithm has been successful applied in field experiments using Pioneer mobile robot with a Microsoft Kinect sensor for following a pedestrian.

Original languageEnglish
Pages (from-to)307-327
Number of pages21
JournalAutonomous Robots
Issue number2
Publication statusPublished - 2018 Feb 1
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2017, Springer Science+Business Media, LLC.


  • Chance-constrained optimization
  • Fan-shaped sensors
  • Robust target tracking

ASJC Scopus subject areas

  • Artificial Intelligence


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