Target tracking using multiple robots

摘要

This paper proposes a target tracking system using multiple robots. Utilizing multiple robots to track a single target makes it efficient and results in fast surrounding of the target. The tracking and surrounding of the target are achieved by implicit coordination among the individual robots in the tracking system. The tracking system is a decentralized one with all member robots having equal processing capabilities. This paper deals with a robotic application that tracks a moving target by utilizing multiple robots with multiple sensors. The system uses a visual camera at the roof top to sense the movement of the target and various sensors to help the robot to detect the target. Experimental and simulation results show that robotic system can fulfil requirements of tracking a target when it is moving.