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New multiple target tracking strategy using domain knowledge and optimisation
journal contribution
posted on 2016-09-30, 11:18 authored by Runxiao Ding, Miao Yu, Hyondong Oh, Wen-Hua ChenWen-Hua ChenThis paper proposes an environment-dependent vehicle dynamic modelling approach considering interactions between the noisy control input of a dynamic model and the environment in order to make best use of domain knowledge. Based on this modelling, a new domain knowledge-aided moving horizon estimation (DMHE) method is proposed for ground moving target tracking. The proposed method incorporates different types of domain knowledge in the estimation process considering both environmental physical constraints and interaction behaviours between targets and the environment. Furthermore, in order to deal with a data association ambiguity problem of multiple target tracking in a cluttered environment, the DMHE is combined with a multiple hypothesis tracking structure. Numerical simulation results show that the proposed DMHE-based method and its extension could achieve better performance than traditional tracking methods which utilise no domain knowledge or simple physical constraint information only.
Funding
This work was supported by the UK Engineering and Physical Sciences Research Council (EPSRC) Grant number EP/K014307/1 and the MOD University Defence Research Collaboration in Signal Processing.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
IEEE Transactions on Systems, Man and Cybernetics: SystemsVolume
47Issue
4Pages
605 - 616Citation
DING, R. ...et al., 2016. New multiple target tracking strategy using domain knowledge and optimisation. IEEE Transactions on Systems, Man and Cybernetics: Systems, 47 (4), pp.605-616Publisher
IEEE © the authorsVersion
- VoR (Version of Record)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Acceptance date
2016-09-19Publication date
2016-10-26Notes
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/ISSN
2168-2216eISSN
2168-2232Publisher version
Language
- en