Robot Catching: Towards Engaging Human-Humanoid Interaction
Autonomous Robots
Navigation-Guidance-Based Robotic Interception of Moving Objects in Industrial Settings
Journal of Intelligent and Robotic Systems
On-Line Robotic Interception Planning Using a Rendezvous-Guidance Technique
Journal of Intelligent and Robotic Systems
Vision-based interception of a moving target with a nonholonomic mobile robot
Robotics and Autonomous Systems
Fast-Maneuvering Target Seeking Based on Double-Action Q-Learning
MLDM '07 Proceedings of the 5th international conference on Machine Learning and Data Mining in Pattern Recognition
Navigation control for tracking and catching a moving target
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Journal of Intelligent and Robotic Systems
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Presents an approach to online, robot-motion planning for moving-object interception. The proposed approach utilizes a navigation-guidance-based technique, that 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 illustrated via numerous simulation examples