Moving Target Tracking Method for Unmanned Vehicle Based on Laser Sensor

摘要

In recent years, with the rapid development of electronic technology and communication technology, the manufacture of unmanned intelligent vehicles has become an increasing trend. In order to address the problem of tracking a moving, unmanned vehicle, we propose a moving target tracking method for unmanned vehicles based on laser sensor. Firstly, the kinematics model of an unmanned vehicle is linearized, and the kinematic linear tracking error model for an unmanned vehicle is obtained, which can be used to predict the future behavior of the vehicle. Then, based on this future behavior, the moving target data detected by lidar are clustered to obtain the details of the moving target by means of the nearest neighborhood method and the rule classifier algorithm. Finally, the maximum association method is used to cluster the moving target in real time and match the moving target with those stored in the list of moving targets to achieve tracking. The results show that this method can accurately and consistently control the tracking reference vehicle operation of an unmanned vehicle, and the tracking accuracy, anti-interference and collision avoidance are significantly better than other similar methods.