<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This paper presents a novel on-line trajectory planning method for the autonomous robotic interception of moving targets in the presence of dynamic obstacles, i.e., position and velocity matching (also referred to as <italic>rendezvous</italic>). The novelty of the proposed time-optimal interception method is that it directly considers the dynamics of the obstacles as well as the target in its interception maneuver: the velocities and accelerations of the obstacles and the target are predicted in real-time for potential collisions. The method is designed to deal with highly- maneuvering obstacles and targets. The interception maneuver is computed using an Advanced Predictive Guidance Law.</p>
<p>Extensive simulation and experimental analyses, some of which are reported in this paper, have clearly demonstrated the time efficiency of the proposed rendezvous method.</p>
</abstract>

This paper presents a novel on-line trajectory planning method for the autonomous robotic interception of moving targets in the presence of dynamic obstacles, i.e., position and velocity matching (also referred to as rendezvous). The novelty of the proposed time-optimal interception method is that it directly considers the dynamics of the obstacles as well as the target in its interception maneuver: the velocities and accelerations of the obstacles and the target are predicted in real-time for potential collisions. The method is designed to deal with highly- maneuvering obstacles and targets. The interception maneuver is computed using an Advanced Predictive Guidance Law.
Extensive simulation and experimental analyses, some of which are reported in this paper, have clearly demonstrated the time efficiency of the proposed rendezvous method.

Advanced Predictive Guidance Navigation for Mobile Robots: A Novel Strategy for Rendezvous in Dynamic Settings

Department of Mechanical and Industrial Engineering

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

This paper presents a novel on-line trajectory planning method for the autonomous robotic interception of moving targets in the presence of dynamic obstacles,...

Advanced Predictive Guidance Navigation for Mobile Robots: A Novel Strategy for Rendezvous in Dynamic Settings

Publié en ligne: 02 nov. 2017

Pages: 858 - 890

DOI: https://doi.org/10.21307/ijssis-2017-325

Mots clés
Target interception, on-line trajectory planning, rendezvous guidance

© 2008 Faraz Kunwar et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Advanced Predictive Guidance Navigation for Mobile Robots: A Novel Strategy for Rendezvous in Dynamic Settings

Publié en ligne: 02 nov. 2017

Pages: 858 - 890

DOI: https://doi.org/10.21307/ijssis-2017-325

Mots clésTarget interception, on-line trajectory planning, rendezvous guidance

© 2008 Faraz Kunwar et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
Target interception, on-line trajectory planning, rendezvous guidance