Convex Hull Obstacle-Aware Pedestrian Tracking and Target Detection in Theme Park Applications

Barriers are utilized for various tasks in security, environmental monitoring, penetration detection and reconnaissance. It is highly necessary to consider how to support pedestrian tracking and target detection in theme park areas having multiple obstacles. In this paper, we create security barriers through cooperation between mobile robots and UAVs for use in theme park areas where multiple obstacles of undetermined forms are placed. We formally define the problem and the goals. The goals are the following: to maximize the number of convex hull obstacle-aware tracking barriers using mobile robots and UAVs, to satisfy given detection accuracy, and to ensure that all environments are protected by convex hull obstacle-aware tracking barriers without disturbance from irregular obstacles. To address the problem, we propose two different algorithms, to improve security barriers and avoid various forms of obstacles, in a bid to work towards a 6G-enabled virtual emotion environment. Then, the proposed schemes are executed through simulations with various settings, and the numerical results evaluated with detailed discussions and demonstrations.