Title :
An Ideal Proportional Navigation Guidance system for moving object interception-robotic experiments
Author :
Borg, J.M. ; Mehrandezh, M. ; Fenton, R.G. ; Benhabib, B.
Author_Institution :
Comput. Integrated Manuf. Lab., Toronto Univ., Ont., Canada
Abstract :
An Ideal Proportional Navigation Guidance (IPNG) technique is applied to the problem of intercepting a fast maneuvering object in real time using an industrial robotic manipulator. A hybrid method is utilized, in which IPNG is combined with a conventional tracking method to ensure smooth interception. The method is suited for the interception of both fast maneuvering as well as slow maneuvering targets, and does not require long term target trajectory prediction. Experimental results are reported
Keywords :
computerised navigation; industrial manipulators; path planning; real-time systems; target tracking; IPNG technique; Ideal Proportional Navigation Guidance system; conventional tracking method; fast maneuvering object; hybrid method; industrial robotic manipulator; long term target trajectory prediction; moving object interception; real time; robotic experiments; slow maneuvering targets; smooth interception; Acceleration; Aircraft navigation; Computer integrated manufacturing; Laboratories; Manipulators; Motion planning; Motion-planning; Service robots; Target tracking; Trajectory;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.886504
