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Application of Multi-Target Tracking to Sonar-Based Mobile Robot Navigation

机译：多目标跟踪在基于声纳的移动机器人导航中的应用

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摘要

An approach to mobile robot navigation that unifies the problems of obstacleavoidance, position estimation and map building on a common multitarget tracking framework, is described. Model based navigation is viewed as a process of tracking naturally occurring geometric targets, or beacons. Targets predicted (expected) from the environment map are tracked to provide vehicle position estimates (localization). Targets observed, but not predicted, represent unknown environment features or obstacles, and cause new tracks to be initiated, classified, and ultimately integrated into the map. A good sensor model is a crucial component of this approach, and is used both for predicting expected observations and classifying unexpected observations. This navigation framework is being implemented on a mobile robot that employs sonar as the principle navigation sensor. An implementation of model based localization that achieves robust position estimation in a known environment is presented. Preliminary results in obstacle identification and map building that lead to the belief that a complete navigation system, encompassing localization obstacle avoidance, and map building, can be implemented exclusively with sonar, are presented.

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