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Robotic Control for Cognitive UWB Radar

: Brüggenwirth, S.; Rial, F.


Institute of Electrical and Electronics Engineers -IEEE-:
2nd IEEE International Conference on Robotic Computing, IRC 2018. Proceedings : 31 January-2 February 2018, Laguna Hills, California
Piscataway, NJ: IEEE, 2018
ISBN: 978-1-5386-4652-6
ISBN: 978-1-5386-4651-9
ISBN: 978-1-5386-4653-3
International Conference on Robotic Computing (IRC) <2, 2018, Laguna Hills/Calif.>
International Workshop on Collaboration of Humans, Agents, Robots, Machines and Sensors (CHARMS) <4, 2018, Laguna Hills/Calif.>
International Workshop on Semantic Robots (WSR) <2, 2018, Laguna Hills/Calif.>
International Workshop on New Frontiers in Computational Robotics (NFCR) <2, 2018, Laguna Hills/Calif.>
Fraunhofer FHR ()

In the article, we describe a trajectory planning problem for a 6-DOF robotic manipulator arm that carries an ultra-wideband (UWB) radar sensor with synthetic aperture (SAR). The resolution depends on the trajectory and velocity profile of the sensor head. The constraints can be modelled as an optimization problem to obtain a feasible, collision-free target trajectory of the end-effector of the manipulator arm in Cartesian coordinates that minimizes observation time. For 3D-reconstruction, the target is observed in multiple height slices. For Through-the-Wall radar the sensor can be operated in sliding mode for scanning larger areas. For IED inspection the spotlight mode is preferred, constantly pointing the antennas towards the target to obtain maximum azimuth resolution.