Interception of a moving object with a specified approach angle by a wheeled robot: theory and experiment
2008 (English)In: 47th IEEE conference on decision and control, 2008 (CDC 2008), Institute of Electrical and Electronics Engineers , 2008, 490-495 p.Conference paper (Refereed)Text
This paper presents a vision-based wheeled-robot navigation technique, termed circular navigation guidance (CNG), for the interception of a moving target from a specific angle. The guidance law is not split into path-planning and path-following stages, but is continuously updated based on immediately available information, making it useful even against a manoeuvring target, or where only incomplete information is available to the robot. This is achieved by converting a finite-time navigation problem into one of maintaining a certain geometric condition at all times. Detailed theoretical analysis provides a closed-form solution for the shape of the path the robot takes against a moving target. Experimental results are presented which show that CNG is robust and accurate under real-world conditions against a manoeuvring target.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers , 2008. 490-495 p.
, IEEE Conference on Decision and Control, ISSN 0191-2216
Robotics Computer Science Control Engineering
IdentifiersURN: urn:nbn:se:umu:diva-117518ISI: 000307311600082ISBN: 978-1-4244-3124-3OAI: oai:DiVA.org:umu-117518DiVA: diva2:908153
47th IEEE Conference on Decision and Control, DEC 09-11, 2008, IEEE Control Syst Soc (CSS), Cancun, MEXICO