On-Line Robotic Interception Planning Using a Rendezvous-Guidance Technique
Journal of Intelligent and Robotic Systems
Roadmap-based stealth navigation for intercepting an invader
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Minimum transmission energy trajectories for a linear pursuit problem
NET-COOP'07 Proceedings of the 1st EuroFGI international conference on Network control and optimization
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A number of active prediction planning and execution (APPE) systems have recently been proposed for robotic interception of moving objects. The cornerstone of such systems is the selection of a robot-object rendezvous-point on the predicted object trajectory. Unlike tracking-based systems, which minimize the state difference between the object and the robot at each control period, in this methodology the robot is sent directly to the selected rendezvous-point. A fine-motion tracking strategy would then be employed for grasping the moving object. Herein, a novel strategy for selecting the optimal (earliest) rendezvous-point is presented. For objects with predictable trajectories, this is a significant improvement over previous APPE strategies which select the rendezvous-point from a limited number of non-optimally chosen candidates