Robotic interception of moving objects using ideal proportional navigation guidance technique
| Autor: | Beno Benhabib, M. N. Sela, Mehran Mehrandezh, Robert G. Fenton |
|---|---|
| Rok vydání: | 1999 |
| Předmět: |
business.industry
Computer science General Mathematics GRASP ComputerApplications_COMPUTERSINOTHERSYSTEMS Kinematics Mobile robot navigation Computer Science Applications Missile Control and Systems Engineering Trajectory Robot Proportional navigation Computer vision Artificial intelligence Interception business Robotic arm Software |
| Zdroj: | Robotics and Autonomous Systems. 28:295-310 |
| ISSN: | 0921-8890 |
| DOI: | 10.1016/s0921-8890(99)00044-5 |
| Popis: | This paper presents a novel approach to on-line, robot-motion planning for moving-object interception. The proposed approach utilizes a navigation-based technique, which 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 technique with a conventional trajectory tracking method is proposed herein for intercepting fast-maneuvering objects. The implementation of the proposed technique is discussed via numerous simulation examples. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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