An active prediction, planning and execution system for interception of moving objects

An active prediction, planning and execution approach to object interception is applied to the problem of catching a moving object. The object motion cannot be accurately predicted into the future necessitating active path replanning. Unlike the APPE systems reported in the literature, which at best...

Full description

Saved in:
Bibliographic Details
Main Authors: Hujic, D., Zak, G., Croft, E., Fenton, R.G., Mills, J.K., Benhabib, B.
Format: Conference Proceeding
Language:English
Subjects:
Intelligent robots
Laboratories
Mechanical engineering
Milling machines
Motion planning
Orbital robotics
Robot motion
Robotics and automation
Service robots
Trajectory
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:An active prediction, planning and execution approach to object interception is applied to the problem of catching a moving object. The object motion cannot be accurately predicted into the future necessitating active path replanning. Unlike the APPE systems reported in the literature, which at best can select a rendezvous-point amongst a few non-optimal interception points, the proposed APPE system is able to intercept the object anywhere along its predicted trajectory. Time-optimal object interception is accomplished by planning the rendezvous-point at the earliest possible time using a quintic-polynomial trajectory planner. Simulation and experimental results are reported.
DOI:10.1109/ISATP.1995.518793