Proportional navigation guidance for robotic interception of moving objects

作     者：Mehrandezh, M Sela, MN Fenton, RG Benhabib, B 

作者机构：Univ Toronto Dept Mech & Ind Engn Comp Integrated Mfg Lab Toronto ON M5S 3G8 Canada 

出 版 物：《JOURNAL OF ROBOTIC SYSTEMS》 (野外机器人技术杂志)

年 卷 期：2000年第17卷第6期

页      面：321-340页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

主　　题：PROPORTIONAL NAVIGATION Moving control strategy Guidance acceleration interceptions Robot Manipulator 

摘      要：Two novel navigation-guidance-based methods are presented for on-line-robotic-interception of fast-maneuvering objects. For the first method, an ideal proportional navigation-guidance (IPNG) technique is used during phase I of the two-phase robot trajectory planning and control strategy. For the second method, an augmented form of the IPNG (AIPNG) technique is suggested for phase I, when a reliable estimation of the acceleration of the target can be provided to the interceptor. Both techniques are modified to reflect the greater mobility of a robotic manipulator over an airborne interceptor. The convergence analyses of both methods are detailed and compared to that of a conventional moving-object tracking method. Computer simulations clearly illustrate the effectiveness of the IPNG-based interception methods over pure tracking-based techniques proposed in the cited literature. (C) 2000 John Wiley gr Sons, Inc.