Mobile Tracking Control at Route Forks Using Goal Positioning
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Solution Overview
Problem
Existing technologies face challenges in reliably tracking a target when it moves through a fork in a route, as the tracking device often loses sight of the target due to uncertainty in selecting the correct route.
Innovation Solution
An information processing device with a control parameter determination unit that calculates a goal position and goal posture to keep the tracking target within the viewing angle of the mobile device, even when it cannot discriminate between multiple routes at a fork.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mobile device uses position estimation based on movement trajectory when the tracking target is out of field of view, then the device can attempt to track the target, but the position estimation easily deviates and takes a long time to recognize the target
Solution Approach 1:
The system performs preliminary action by proactively moving to a position where the tracking goal is guaranteed to be within the field of view before losing sight completely. This prevents the need for inaccurate position estimation by maintaining visual contact through advance positioning at fork intersections or other strategic locations.
2Ease of operation
If the mobile device moves to a position at which the goal falls within field of view assuming the tracking goal exists at a past observation position, then movement can be performed, but this scheme cannot be applied when the tracking target is out of field of view at a fork and the selected route is not clear
Solution Approach 1:
The system applies dynamics by adaptively switching between different control modes based on the situation. When the tracking goal is visible, normal tracking control is used. When the goal is out of field of view at a fork, the system dynamically transitions to a mode that moves to predetermined positions (fork intersections) to regain visual contact, thus adapting to the specific environmental conditions.
3Loss of information
If the robot uses transition probability to estimate tracking target position when the sensor cannot detect the target, then position estimation can be performed, but when estimation is incorrect the target position deviates greatly from field of view making recovery and use at a fork difficult
Solution Approach 1:
The system uses fork intersection positions as intermediary points. Instead of relying on potentially inaccurate continuous position estimation, the robot moves to these predetermined intermediary positions where the tracking goal is guaranteed to be within the field of view. This intermediary approach resets the tracking accuracy without requiring complex probability-based estimation.
Data Source
AI summary
A device and a method that prevent a tracking target tracked by a mobile device from deviating from a field of view at a fork, thereby enabling reliable tracking, are provided. When a control parameter determination unit of a mobile device cannot discriminate one of a plurality of routes constituting a fork that a tracking target selects and moves along, the control parameter determination unit calculates a goal position for bringing the tracking target within a viewing angle of the mobile device and a goal posture at the goal position, and generates a control parameter including the calculated goal position and goal posture. The control parameter determination unit calculates a position and posture that enable the tracking target to be within the viewing angle of the mobile device regardless of a route that the tracking target selects and moves along.