Target Tracking with Equality/Inequality Constraints Based on Trajectory Function of Time

This letter addresses the constrained target tracking problem based on the approach of the trajectory function of time (T-FoT). Both state equality and inequality constraints such as the trajectory geometry and width are considered, respectively. The penalty function is used in the T-FoT framework to account for the constraint. Specifically, the logarithmic barrier function is used to solve the challenging inequality constraint. Different from existing works which are mostly based on constrained Bayesian filters, our approaches make full use of constraints with little approximation. Three representative scenarios have been considered in the simulation for demonstrating the performance of our proposed approaches in comparison with existing constrained approaches based on Bayes filters.