Prediction-based interception control strategy design with a specified approach angle constraint for wheeled service robots

This paper designs an innovative prediction-based interception control strategy to enable a wheeled mobile robot to intercept a dynamic target with a specified angle, which can be potentially utilized in such applications as service robots. Specifically, visual information is collected and then utilized to estimate the state of the moving target, based on which, the follow-up pose of the target is calculated so as to improve the interception accuracy. A prediction-based controller is then proposed to drive the wheeled robot to efficiently intercept a dynamic target with a specified angle, whose stability is proven by Lyapunov techniques. Both simulation and experimental results are provided to demonstrate the superior performance of the proposed approach.