Time-optimal interception of objects moving along predictable paths

Authors:
E. A. Croft
Affiliations:
-
Venue:
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
Year:
1995

Citing 4
Cited 1

A robot ping-pong player: experiment in real-time intelligent control

A robot ping-pong player: experiment in real-time intelligent control
Randomization in robot tasks

International Journal of Robotics Research
Fast vision-guided mobile robot navigation using model-based reasoning and prediction of uncertainties

CVGIP: Image Understanding
An active prediction, planning and execution system for interception of moving objects

ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning

Navigation-Guidance-Based Robotic Interception of Moving Objects in Industrial Settings

Journal of Intelligent and Robotic Systems

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Abstract

Abstract: This paper focuses on planning strategies for object-interception, within the context of an active prediction planning and execution (APPE) strategy. Herein, the goal is to bring the robot end-effector to a pre-grasping location, so that a fine-motion grasping-strategy can be used. This objective is optimized within the APPE strategy by solving two problems: (i) selection of an optimal rendezvous-point; and, (ii) planning of a time-optimal robot-trajectory to this rendezvous-point. Problem (i), addressed herein, is formulated as a minimization of the robot-target interception-time. An adaptive-planning algorithm is proposed, where only the exact amount of computation time required is used to find the optimal rendezvous-point. Within this strategy, uncertainties must be expected and tolerated. The level of uncertainty provides a convergence constraint for the planning algorithm. The operation of this planning strategy is demonstrated via computer simulation. Experimental work using this approach is also cited.