Belief Driven Manipulator Control for Integrated Searching and Tracking
Webb, S.
Furukawa, T.
Sch. of Mech. & Manuf. Eng., NSW Univ., Sydney, NSW;
This paper appears in: Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Publication Date: 9-15 Oct. 2006
On page(s): 4983-4988
Location: Beijing,
ISBN: 1-4244-0258-1
INSPEC Accession Number: 9419506
Digital Object Identifier: 10.1109/IROS.2006.282523
Current Version Published: 2007-01-15
Abstract
This paper presents a feedforward control strategy for a robotic manipulator based on a belief function. The belief about a target's next location, as described by a probability density function, is maintained by a recursive Bayesian process that fuses observations with a target motion model. A sensor model that incorporates positive and negative sensor readings allows the single belief function to be used to deliver both searching and tracking behaviors. Constrained non-linear optimization is used to search configuration space for the control action that maximizes the subsequent probability of detection. To demonstrate application of the technique, a simple example is elaborated for a searching and tracking task with an eye-in-hand sensor
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