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. 2018 Dec 29;19(1):107. doi: 10.3390/s19010107

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© 2018 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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General DATMO proposed schema. Our system can now deal with several LRF sensors placed in the AGV. For each one, a moving object detector is instantiated having as only inputs the range measurements and the vehicle’s odometry. The MH-Tracker receives a list of dynamic objects from each of the detectors and tracks them through time, retrieving their speed, direction and status. Section 3.1 and Section 3.2 detail respectively the internal processes performed by our detector and tracker modules.