Robust sensor planning for a partially known moving target: application to a dynamic X-ray imaging system

Authors:
John D. Yamokoski;Scott A. Banks
Affiliations:
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL;Department of Mechanical and Aerospace Engineering and the Department of Orthopaedics and Rehabilitation, University of Florida, Gainesville, FL
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This paper discusses the extension of sample-based planning methods to the application of sensor planning for a partially unknown, moving target. This is achieved by modeling the target as a time-varying stochastic process with known mean and variance. Using the unscented transform, the target's statistics are then propagated through a user-supplied sensing effectiveness metric. The planner is demonstrated for a dynamic X-ray imaging platform tasked with viewing the human knee-joint center during normal, over-ground walking.