Advanced Predictive Guidance Navigation for Mobile Robots: A Novel Strategy for Rendezvous in Dynamic Settings

Abstract

Abstract-This paper presents a novel on-line trajectory planning method for the autonomous robotic interception of moving targets in the presence of dynamic obstacles, i.e., position and velocity matching (also referred to as rendezvous). The novelty of the proposed time-optimal interception method is that it directly considers the dynamics of the obstacles as well as the target in its interception maneuver: the velocities and accelerations of the obstacles and the target are predicted in real-time for potential collisions. The method is designed to deal with highlymaneuvering obstacles and targets. The interception maneuver is computed using an Advanced Predictive Guidance Law.Extensive simulation and experimental analyses, some of which are reported in this paper, have clearly demonstrated the time efficiency of the proposed rendezvous method.

Autonomous Multi-Target Interception in Dynamic Settings – On-Line Pursuer Task Allocation

“…using an Extended Kalman Filter with the target state information as in [7]) to determine the acceleration command for the pursuer.…”

Robot-Assisted Therapy: Design, Control and Optimization

“…Furthermore, to limit the vibrations of the assistive device, we will consider optimal trajectories with minimum jerk criteria [30,31].…”

On-line task allocation for the robotic interception of multiple targets in dynamic settings

“…Since the pairing optimization algorithm is computationally intensive, herein, we propose the use of a simplified estimate of the actual interception time, which is calculated according to the Advanced Predictive Guidance Law (APGL) described in [7]: , (15) where is the interception time of Target j by Pursuer i at a given time instance, is the distance between the ij th pursuer and target pair, and is the closing speed between them:…”

“…where a(t) is the acceleration of the pursuer needed to intercept the target at time instant t and is the duration of the interception, [7]:…”

“…To date, guidance theories have been commonly used as a means to efficiently, with minimal computational burden, navigate interceptors toward targets with unpredictable trajectories, first in missile-guidance applications [1][2][3], and more recently, in mobile robotics [4][5][6][7]. The roboticguidance techniques proposed in the literature have been shown to clearly yield improved interception times when compared to classical visual-servoing techniques.…”