An Ideal Proportional Navigation Guidance system for moving object interception-robotic experiments

Author

Borg, J.M. ; Mehrandezh, M. ; Fenton, R.G. ; Benhabib, B.

Author_Institution

Comput. Integrated Manuf. Lab., Toronto Univ., Ont., Canada

Volume

5

fYear

2000

fDate

2000

Firstpage

3247

Abstract

An Ideal Proportional Navigation Guidance (IPNG) technique is applied to the problem of intercepting a fast maneuvering object in real time using an industrial robotic manipulator. A hybrid method is utilized, in which IPNG is combined with a conventional tracking method to ensure smooth interception. The method is suited for the interception of both fast maneuvering as well as slow maneuvering targets, and does not require long term target trajectory prediction. Experimental results are reported

Keywords

computerised navigation; industrial manipulators; path planning; real-time systems; target tracking; IPNG technique; Ideal Proportional Navigation Guidance system; conventional tracking method; fast maneuvering object; hybrid method; industrial robotic manipulator; long term target trajectory prediction; moving object interception; real time; robotic experiments; slow maneuvering targets; smooth interception; Acceleration; Aircraft navigation; Computer integrated manufacturing; Laboratories; Manipulators; Motion planning; Motion-planning; Service robots; Target tracking; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 2000 IEEE International Conference on

Conference_Location

Nashville, TN

ISSN

1062-922X

Print_ISBN

0-7803-6583-6

Type

conf

DOI

10.1109/ICSMC.2000.886504

Filename

886504