Confidence-Level-Based New Adaptive Particle Filter for Nonlinear Object Tracking

摘要

Nonlinear object tracking from noisy measurements is a basic skill and a challenging task of mobile robotics, especially under dynamic environments. The particle filter is a useful tool for nonlinear object tracking with non-Gaussian noise. Nonlinear object tracking needs the real-time processing capability of the particle filter. While the number in a traditional particle filter is fixed, that can lead to a lot of unnecessary computation. To address this issue, a confidence-level-based new adaptive particle filter (NAPF) algorithm is proposed in this paper. In this algorithm the idea of confidence interval is utilized. The least number of particles for the next time instant is estimated according to the confidence level and the variance of the estimated state. Accordingly, an improved systematic re-sampling algorithm is utilized for the new improved particle filter. NAPF can effectively reduce the computation while ensuring the accuracy of nonlinear object tracking. The simulation results and the ball tracking results of the robot verify the effectiveness of the algorithm.