Abstract
This paper presents a laser-based moving-object tracking by two mobile robots. Each robot finds moving objects from its own laser scan image based on an occupancy grid based method. Two robots exchange the information of the detected moving objects and their laser images with each other via a broadcast communication system, and they track the moving objects cooperatively. The tracking algorithm is based on Scan matching, Kalman filter and Covariance Intersection. The experimental result of two walking people validates the proposed method.
