Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
Vision Based Target Tracking and Collision Avoidance for Mobile Robots
Journal of Intelligent and Robotic Systems
Vision-based interception of a moving target with a nonholonomic mobile robot
Robotics and Autonomous Systems
Evolving ant colony system for optimizing path planning in mobile robots
CERMA '07 Proceedings of the Electronics, Robotics and Automotive Mechanics Conference
Computer Vision and Image Understanding
Obstacle Avoidance Path Planning for Mobile Robot Based on Multi Colony Ant Algorithm
ACHI '08 Proceedings of the First International Conference on Advances in Computer-Human Interaction
Velocity planning for a mobile robot to track a moving target - a potential field approach
Robotics and Autonomous Systems
Robot team coordination for target tracking using fuzzy logic controller in game theoretic framework
Robotics and Autonomous Systems
Complementing visual tracking of moving targets by fusion of tactile sensing
Robotics and Autonomous Systems
Roadmap-based motion planning in dynamic environments
IEEE Transactions on Robotics
IEEE Transactions on Intelligent Transportation Systems
Neurofuzzy-Based Approach to Mobile Robot Navigation in Unknown Environments
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Line of sight robot navigation toward a moving goal
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An efficient dynamic system for real-time robot-path planning
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Real-Time Robot Path Planning via a Distance-Propagating Dynamic System with Obstacle Clearance
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Target tracking using a hierarchical grey-fuzzy motion decision-making method
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Fuzzy target tracking control of autonomous mobile robots by using infrared sensors
IEEE Transactions on Fuzzy Systems
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It is difficult to make a robot intercept a moving target, whose trajectory and speed are unknown and dynamically changing, in a comparatively short distance when the environment contains complex objects. This paper presents a new moving target interception algorithm in which the robot can intercept such a target by following many short straight line trajectories. In the algorithm, an intercept point is first forecasted assuming that the robot and the target both move along straight line trajectories. The robot rapidly plans a navigation path to this projected intercept point by using the new ant algorithm. The robot walks along the planned path while continuously monitoring the target. When the robot detects that the target has moved to a new grid it will re-forecast the intercept point and re-plan the navigation path. This process will be repeated until the robot has intercepted the moving target. The simulation results have shown that the algorithm is very effective and can successfully intercept a moving target while moving along a relatively short path no matter whether the environment has complex obstacles or not and the actual trajectory of the moving target is a straight line or a complex curve.