New Multiple-Target Target Tracking Strategy Using Domain Knowledge and Optimization
Abstract: This paper proposes an environment environment-dependent dependent vehicle dynamic modeling 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 modeling, a new domain knowledge knowledge-aided aided moving horizon estimation (DMHE) method is proposed for ground moving target tracking. The proposed method incorporates different types of domai domain n knowledge in the estimation process considering both environmental physical constraints and interaction behaviors between targets and the environment. Furthermore, in order to deal with a data association ambiguity problem of multiple-target multiple tracking in a cluttered environment, the DMHE is combined with a multiplemultiple hypothesis tracking structure. Numerical simulation results show that the proposed DMHE-based based method and its extension could achieve better performance than traditional tracking methods which ut utilize ilize no domain knowledge or simple physical constraint information only.