Constraint Aware Dynamics in target tracking

This paper addresses the problem of tracking targets in the presence of spatial constraints, typically in ground or littoral environments. It has been observed that manned targets move in a way avoiding constraints, e.g. roadsides. For best tracking accuracy and reliability, especially in cases of sparse measurements, this fact ought to be reflected in the dynamic equations of motion. We develop a simple model, based on constant speed assumptions, realize it in a particle filter, and evaluate the performance in a scenario where a vessel moves in a narrow channel.