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Performance comparison of various navigation guidance methods in interception of a moving object by a serial manipulator considering its kinematic and dynamic limits

Mohammad Keshmiri, Mehdi Keshmiri
2010 2010 15th International Conference on Methods and Models in Automation and Robotics  
In this paper a comparative analysis is represented on various navigation guidance methods used for intercepting fast maneuvering moving objects.  ...  Four common methods for navigation under investigation. Results demonstrate their infirmity on smoothly intercepting a moving object.  ...  ACKNOWLEDGMENT This work was partially supported by Dynamic and Robotic center and Arya Pouya Robots Company.  ... 
doi:10.1109/mmar.2010.5587234 fatcat:pkkc23bcmfc4tieiaqetlynpsq

A Novel Proportional Navigation based Method for Robotic Interception Planning with Final Velocity Control

Hadi Ghaderi, Meysam Yadegar, Nader Meskin, Mohammad Noorizadeh
2021 IEEE Access  
Benhabib, "Proportional navigation guidance in robot trajectory planning for intercepting moving objects," in Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat.  ...  These conditions are discussed in [17] , where a modified navigation guidance algorithm is proposed for catching a moving object.  ... 
doi:10.1109/access.2021.3091152 fatcat:7m37x3elo5b35i7gej6w5birbu

Interception of a moving object with a specified approach angle by a wheeled robot: Theory and experiment

Ian R. Manchester, Emily-M.P. Low, Andrey V. Savkin
2008 2008 47th IEEE Conference on Decision and Control  
This paper presents a vision-based wheeled-robot navigation technique, termed circular navigation guidance (CNG), for the interception of a moving target from a specific angle.  ...  Detailed theoretical analysis provides a closed-form solution for the shape of the path the robot takes against a moving target.  ...  The authors of [9] propose a method for intercepting a moving object with a mobile robot based on the line-of-sight navigation techniques well known from the missile guidance literature, and the authors  ... 
doi:10.1109/cdc.2008.4738601 dblp:conf/cdc/ManchesterLS08 fatcat:oimupwt6xzhj5coxc7xy332wvy

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

Faraz Kunwar, Beno Benhabib
2008 International Journal on Smart Sensing and Intelligent Systems  
The interception maneuver is computed using an Advanced Predictive Guidance Law.  ...  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  ...  ACKNOWLEDGMENTS We acknowledge the support of the Natural Sciences and Engineering Research Council of Canada (NSERC).  ... 
doi:10.21307/ijssis-2017-325 fatcat:livgcb7ezjbsvbyhadukay4czq

Bio-Inspired Principles Applied to the Guidance, Navigation and Control of UAS

Reuben Strydom, Aymeric Denuelle, Mandyam Srinivasan
2016 Aerospace (Basel)  
This review describes a number of biologically inspired principles that have been applied to the visual guidance, navigation and control of Unmanned Aerial System (UAS).  ...  This has motivated research into bio-inspired systems and algorithms, specifically vision-based navigation, situational awareness and guidance.  ...  The potential advantages of biologically inspired techniques include navigation in cluttered GPS-denied environments, awareness of surrounding objects, and guidance strategies for the pursuit and interception  ... 
doi:10.3390/aerospace3030021 fatcat:i7kp3idjy5fenejdixvruxtkhi

A Review of Guidance Laws Applicable to Unmanned Underwater Vehicles

W. Naeem, R. Sutton, S. M. Ahmad, R. S. Burns
2003 Journal of navigation  
For a truly autonomous operation, the vehicle needs to have a reliable Navigation, Guidance and Control (NGC) system of which the guidance system is the key element, which generates suitable trajectories  ...  The main problem in bringing autonomy to any vehicle lies in the design of a suitable guidance law.  ...  The technique has been implemented in a test bed underwater robot, Twin-Burger 2, at the University of Tokyo for cable tracking and a moving object.  ... 
doi:10.1017/s0373463302002138 fatcat:in4r2zs5dzcgraqpywdprjted4

Tracking of Ground Mobile Targets by Quadrotor Unmanned Aerial Vehicles

Ruoyu Tan, Manish Kumar
2014 Unmanned Systems  
A Proportional Navigation (PN) based switching strategy is proposed to address the problem of Trajectory Generation.  ...  In this thesis, the dynamic equations of motion for quadrotors and a Proportional Derivative control law is derived to solve the problems of Position Control, Motor Control and Trajectory Tracking.  ...  A proportional navigation guidance based technique [23] has been used for interception of an object using robotic manipulator.  ... 
doi:10.1142/s2301385014500101 fatcat:gltr7rmsgngall6yijsaurxuri

GUIDANCE-BASED ON-LINE MOTION PLANNING FOR AUTONOMOUS HIGHWAY OVERTAKING

Usman Ghumman, Faraz Kunwar, Beno Benhabib
2008 International Journal on Smart Sensing and Intelligent Systems  
Namely, the guidance principle is also used to prevent any potential collision with these obstacle vehicles.  ...  Based on the principles of Rendezvous Guidance, the passing vehicle is guided in real-time to match the position and velocity of a shadow target (i.e., rendezvous with) during the overtaking manoeuvre.  ...  Missile-guidance techniques are, typically, classified into five main categories [36, 41] : Line-Of-Sight (LOS) guidance; Pure Pursuit (PP); Proportional Navigation Guidance (PNG); Optimal Guidance (OG  ... 
doi:10.21307/ijssis-2017-307 fatcat:enfireofxff7jptv24z6t37e3y

Straight-Line Target Tracking for Unmanned Surface Vehicles

Morten Breivik, Vegard E. Hovstein, Thor I. Fossen
2008 Modeling, Identification and Control  
Specifically, this work presents the design of a motion control system which enables an underactuated USV to track a target that moves in a straight line at high speed.  ...  This paper considers the subject of straight-line target tracking for unmanned surface vehicles (USVs).  ...  Hovstein, and Stein Johansen at Maritime Robotics for their help with the full-scale experiments.  ... 
doi:10.4173/mic.2008.4.2 fatcat:aiulktpesvgx5d7qurgu5uovue

Autonomous Cooperative Multi-Vehicle System for Interception of Aerial and Stationary Targets

Lima Tony, Shuvrangshu Jana, Varun V. P., Aashay Bhise, Aruul Varman S, Vidyadhara B. V., Mohitvishnu Gadde, Raghu Krishnapuram, Debasish Ghose
2022 Field Robotics  
and payload, design of accurate target interception algorithms using visual information suitable for outdoor environments, and development of a software architecture for dynamic, multi-agent, aerial systems  ...  This paper presents the design, development, and testing of hardware-software systems by the IISc-TCS team for Challenge 1 of the Mohamed Bin Zayed International Robotics Challenge 2020.  ...  We would also like to thank fellow team members from IISc and all members of Guidance, Control, and Decision Systems Laboratory, especially, Abhishek Kashyap, Rahul Ravichandran, Aakriti Agrawal, Rohitkumar  ... 
doi:10.55417/fr.2022005 fatcat:2vjwolxq4vdm7elvrdgmowg5o4

Experiments on Space Robot Arm Path Planning Using the Sensors Database, Part II

Toshiaki Iwata, Seiya Ueno, Hiroshi Murakami
2000 Journal of Guidance Control and Dynamics  
More detailed models have been introduced for derivation of guidance laws with improved performance with respect to the classical proportional navigation.  ...  Introduction HERE are continuing efforts to improve the performance of guidance laws for the terminal phase of a missile intercepting maneuvering targets.  ... 
doi:10.2514/2.4592 fatcat:uikpargzvfabpmfk5crj57xvnm

Autopilot Design for a Beam Rider Guided Missile System

Gamal El-Sheikh
1998 The International Conference on Electrical Engineering  
The paper presents the analysis using the analytic approach and the simulation of a simple system from which the concluded remarks are applicable to a more general guidance system.  ...  This paper presents some of the fundamental principles involved in missile autopilot design using the well known classical control approaches and allows a guidance engineer to grasp a sound understanding  ...  The law of guidance equations are dependent upon the method of guidance used to guide the missile for intercepting the target.  ... 
doi:10.21608/iceeng.1998.61097 fatcat:iy57ry43jnfljfyglep5cv4bpu

Multiple Model-Based Terminal Guidance Law

Ilan Rusnak
2000 Journal of Guidance Control and Dynamics  
More detailed models have been introduced for derivation of guidance laws with improved performance with respect to the classical proportional navigation.  ...  law is the augmented proportional navigation, which is presented for the continuous case in Ref. | (Chap. 7).  ... 
doi:10.2514/2.4593 fatcat:g62lqfey35ajnoxt3cpbcjwhmi

Advances in Sea Coverage Methods Using Autonomous Underwater Vehicles (AUVs) [chapter]

Yeun-Soo Jung, Kong-Woo Lee, Beom-Hee Lee
2008 Recent Advances in Multi Robot Systems  
It has been applied to some single AUV navigation missions (Belkhouche et al., 2006) .The LOS guidance is based on the geometry of the interception scenario.  ...  As stated in (Yan & Robot, 2007) , AUV guidance systems as follows: waypoint guidance by line of sight (LOS), vision-based guidance, and Lyapunov-based guidance.  ...  This may differ depending on the characteristics of the topography, but it will certainly reduce the navigating distance as it uses the shortest path.  ... 
doi:10.5772/5478 fatcat:eehad4hy3jcmhk45biscxkica4

Cascaded PID Control System for UAV with Gain Factor Prediction Using ML

Shubhankar Goje
2021 International Journal for Research in Applied Science and Engineering Technology  
When simulated in Gazebo on a Robot Operating System (ROS), our technique is proven to be successful.  ...  Here, we propose a new approach to maneuver UAVs using a PID control system and overcome the shortcomings of using PID controllers in UAVs.  ...  For indoor environments, they are supposed to be used without a global navigation satellite system (GNSS). [14] Using high accuracy hybrid markers and AR markers, guidance and accurate landing or drones  ... 
doi:10.22214/ijraset.2021.38831 fatcat:75xea36hjfe73aytkky327w7g4
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