Autonomous surveillance in an urban environment
Oliver, John Douglas (2009) Autonomous surveillance in an urban environment. PhD thesis, University of Warwick.
WRAP_THESIS_Oliver_2009.pdf - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
Official URL: http://webcat.warwick.ac.uk/record=b2334499~S15
A number of algorithms have been developed in the past for the purposes of
target tracking, these have generally been for simple polygonal environments.
However as the technology for autonomous vehicles develops for use in the real
world these tracking algorithms need to be tested in larger more realistic environments.
This work investigates the use of tracking algorithms to control a team of road
based robotic platforms, tracking pedestrian targets in urban environments.
The novelty of this work is in the identification of the aspects of the environment
that affect target tracking algorithms, and modifying the algorithms to cope with
them. Problems such as the frequent stalemates reached as an algorithms movement
is limited by the highly restricted movement space or the identification of
“short cuts” in which the target can take much shorter routes between positions
than the robots. Algorithms are developed that overcome these limitations and
they are tested in a simulation that is an accurate representation of a real environment.
The algorithms are partly based on existing work and are developed
extensively to be suitable for the environment. These algorithms are tested for
their ability to maintain visual contact with the target.
The scenario is tested with varying numbers of robots, speeds and locations.
Three algorithms were developed and tested, one built as an extension of existing
target tracking algorithms (Combined Urban Tracker) and another two algorithms
developed specifically for this environment (Short Cut Path, and Branch).
It is concluded that the Combined Urban Tracker and Short Cut Path algorithms
performed comparably with a less than 0:3% difference in performance between
the two both averaging roughly 54% effectiveness overall, however the Branch
algorithm fared significantly worse averaging only 43% overall. The areas within
the environment that give significant problems are large open spaces and areas
that are significantly occluded from the road network.
This work provides a platform on which further development in this area can be
based in order to progress tracking algorithms towards being of practical use.
|Item Type:||Thesis or Dissertation (PhD)|
|Subjects:||T Technology > TK Electrical engineering. Electronics Nuclear engineering|
|Library of Congress Subject Headings (LCSH):||Automatic tracking -- Research, Autonomous robots -- Research, Branch and bound algorithms|
|Official Date:||May 2009|
|Institution:||University of Warwick|
|Theses Department:||School of Engineering|
|Supervisor(s)/Advisor:||Young, Ken W. ; Jones, P. (Peter), Dr.|
|Format of File:|
|Extent:||201 leaves : ill., charts|
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