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Optimal rendezvous-point selection for robotic interception of moving objects

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3 Author(s)
Croft, E.A. ; Dept. of Mech. Eng., British Columbia Univ., Vancouver, BC, Canada ; Fenton, R.G. ; Benhabib, B.

A number of active prediction planning and execution (APPE) systems have recently been proposed for robotic interception of moving objects. The cornerstone of such systems is the selection of a robot-object rendezvous-point on the predicted object trajectory. Unlike tracking-based systems, which minimize the state difference between the object and the robot at each control period, in this methodology the robot is sent directly to the selected rendezvous-point. A fine-motion tracking strategy would then be employed for grasping the moving object. Herein, a novel strategy for selecting the optimal (earliest) rendezvous-point is presented. For objects with predictable trajectories, this is a significant improvement over previous APPE strategies which select the rendezvous-point from a limited number of non-optimally chosen candidates

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:28 ,  Issue: 2 )