Rendezvous-Guidance Trajectory Planning for Robotic Dynamic Obstacle Avoidance and Interception
This correspondence presents a novel online 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 proposed time-optimal interception method is a hybrid algo...
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| Veröffentlicht in: | IEEE transactions on cybernetics 2006-12, Vol.36 (6), p.1432-1441 |
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| container_title | IEEE transactions on cybernetics |
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| creator | Kunwar, F. Benhabib, B. |
| description | This correspondence presents a novel online 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 proposed time-optimal interception method is a hybrid algorithm that augments a novel rendezvous-guidance (RG) technique with the velocity-obstacle approach, for obstacle avoidance, first reported by Fiorini and Shiller. The obstacle-avoidance algorithm itself could not be used in its original form and had to be modified to ensure that the online planned path deviates minimally from the one generated by the RG algorithm. Extensive simulation and experimental analyses, some of which are reported in this correspondence, have clearly demonstrated the tangible time efficiency of the proposed interception method |
| doi_str_mv | 10.1109/TSMCB.2006.877792 |
| format | Article |
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The proposed time-optimal interception method is a hybrid algorithm that augments a novel rendezvous-guidance (RG) technique with the velocity-obstacle approach, for obstacle avoidance, first reported by Fiorini and Shiller. The obstacle-avoidance algorithm itself could not be used in its original form and had to be modified to ensure that the online planned path deviates minimally from the one generated by the RG algorithm. 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The proposed time-optimal interception method is a hybrid algorithm that augments a novel rendezvous-guidance (RG) technique with the velocity-obstacle approach, for obstacle avoidance, first reported by Fiorini and Shiller. The obstacle-avoidance algorithm itself could not be used in its original form and had to be modified to ensure that the online planned path deviates minimally from the one generated by the RG algorithm. Extensive simulation and experimental analyses, some of which are reported in this correspondence, have clearly demonstrated the tangible time efficiency of the proposed interception method</description><subject>Acceleration</subject><subject>Algorithms</subject><subject>Computer vision</subject><subject>Cybernetics</subject><subject>Dynamics</subject><subject>Interception</subject><subject>Navigation</subject><subject>Obstacle avoidance</subject><subject>On-line systems</subject><subject>Online</subject><subject>Online trajectory planning</subject><subject>rendezvous guidance (RG)</subject><subject>Robotics</subject><subject>Robotics and automation</subject><subject>Robots</subject><subject>Roentgenium</subject><subject>Routing</subject><subject>target interception</subject><subject>Topology</subject><subject>Trajectory</subject><subject>Vehicle dynamics</subject><issn>1083-4419</issn><issn>2168-2267</issn><issn>1941-0492</issn><issn>2168-2275</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2006</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNp9kU1rGzEQhkVJaNK0PyAUwtJDc1p3tPo-pm6bBFJSUucsZO1sWWNLrrQbcH595NokkENPMzDPO8zwEHJKYUIpmC-z3z-nXycNgJxopZRp3pBjajitgZvmoPSgWc05NUfkXc4LADBg1FtyRBXVUlNzTOwdhhYfH-KY68uxb13wWM2SW6AfYtpUv5YuhD78qbqYqrs4j0Pvq2-b4Fal3s7z4PwSq4uHuI-60FbXYcDkcT30Mbwnh51bZvywryfk_sf32fSqvrm9vJ5e3NSeKT3UhoNyLTZeCqZ9a3zHFHrZ-s7JVhjmEDqhgUrH5xS8cVxq0yFwYExIptkJOd_tXaf4d8Q82FWfPS7L-Vh-s9pIqhUTopCf_0tK3UgwRhbw0ytwEccUyhdWS6EYF80WojvIp5hzws6uU79yaWMp2K0k-0-S3UqyO0klc7ZfPM5X2L4k9lYK8HEH9Ij4POZAuVCKPQGUG5YE</recordid><startdate>20061201</startdate><enddate>20061201</enddate><creator>Kunwar, F.</creator><creator>Benhabib, B.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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The proposed time-optimal interception method is a hybrid algorithm that augments a novel rendezvous-guidance (RG) technique with the velocity-obstacle approach, for obstacle avoidance, first reported by Fiorini and Shiller. The obstacle-avoidance algorithm itself could not be used in its original form and had to be modified to ensure that the online planned path deviates minimally from the one generated by the RG algorithm. Extensive simulation and experimental analyses, some of which are reported in this correspondence, have clearly demonstrated the tangible time efficiency of the proposed interception method</abstract><cop>United States</cop><pub>IEEE</pub><pmid>17186819</pmid><doi>10.1109/TSMCB.2006.877792</doi><tpages>10</tpages></addata></record> |
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| ispartof | IEEE transactions on cybernetics, 2006-12, Vol.36 (6), p.1432-1441 |
| issn | 1083-4419 2168-2267 1941-0492 2168-2275 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Acceleration Algorithms Computer vision Cybernetics Dynamics Interception Navigation Obstacle avoidance On-line systems Online Online trajectory planning rendezvous guidance (RG) Robotics Robotics and automation Robots Roentgenium Routing target interception Topology Trajectory Vehicle dynamics |
| title | Rendezvous-Guidance Trajectory Planning for Robotic Dynamic Obstacle Avoidance and Interception |
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