Robotic Interception of Moving Objects Using an Augmented Ideal Proportional Navigation Guidance Technique

This paper presents a novel approach to on-line, robot-motion planning for moving-object interception. The proposed approach utilizes a navigation-guidance-based technique, that is robust and computationally efficient for the interception of fast-maneuvering objects. Navigation-based techniques were originally developed for the control of missiles tracking free-flying targets. Unlike a missile, however, the end-effector of a robotic arm is connected to the ground, via a number of links and joints, subject to kinematic and dynamic constraints. Also, unlike a missile, the velocity of the robot and the moving object must be matched for a smooth grasp, thus, a hybrid interception scheme, which combines a navigation-based interception techniquewith a conventional trajectory tracking method is proposed herein for intercepting fast-maneuvering objects. The implementation of the proposed technique is illustrated via numerous simulation examples.

作 者：

Mehran Mehrandezh；Naftali M. Sela；Robert G. Fenton；Beno Benhabib

刊 名：

IEEE transactions on systems, man, and cybernetics. Part A 

年，卷(期)：

2000Vol.30,no.3,2000("") 

分类号：

 

关键词：

moving object interception  proportional navigation guidance  robot motion planning

正文语种：

eng 

基金项目：