An Algorithm for Determining the Parameters of Moving Objects in Three-Dimensional Space Using Different Types of Sensors on Board a Mobile Robot

Abstract

This paper proposes an algorithm for parameters estimation of a generic mathematical model of an object moving in the same environment as a mobile robot. A history of objects parameter's changes is stored for the purpose of further object long time tracking using different types of sensors installed on board of the observer robot. The quality of the proposed algorithm is evaluated based on computer simulation in the Octave environment, including the case of a changing number of objects, which are located in an area of view of the robot.