Real-time target tracking of an unpredictable target amid unknown obstacles

摘要

Embodiments of the invention provide a strategy for computing the motions of a mobile robot operating in an obstacle-laden environment without requiring prior knowledge of the distribution of obstacles in the environment or knowing the trajectory of a target tracked by the robot. Embodiments of the invention provide an algorithm that governs the motion of the observer robot based on measurements of the target's position and the location of obstacles in the environment. The algorithm computes a description of the geometric arrangement between the target and the observer's visibility region produced by the obstacles and computes a continuous control rule using this description. Embodiments of the invention employ an escape-path tree data structure to categorize the target's possible modes of escaping from the observer robot's sensors and use the escape-path tree to determine the target's shortest escape path.