Title :
Proportional navigation guidance in robot trajectory planning for intercepting moving objects
Author :
Mehrandezh, M. ; Sela, M.N. ; Fenton, R.G. ; Benhabib, B.
Author_Institution :
Lab. of Comput. Integrated Manuf., Toronto Univ., Ont., Canada
Abstract :
This paper presents a novel approach to online robot-motion planning for moving-object interception. A hybrid scheme, which combines a navigation-based technique with a conventional trajectory tracking method, is proposed for intercepting fast-manoeuvring objects. The implementation of the proposed technique is discussed via a simulation example
Keywords :
manipulator dynamics; navigation; path planning; proportional control; tracking; autonomous manipulator; moving object intercepting; navigation; proportional control; robot manipulators; trajectory planning; trajectory tracking; Acceleration; Computer integrated manufacturing; Computer vision; Laboratories; Missiles; Motion planning; Navigation; Service robots; Target tracking; Trajectory;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769945
