A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control

This paper presents a new method for robot interception planning based on the proportional navigation. Guidance laws are basically developed for aerospace applications where a pursuer impacts a target using these methods, however in the robotic application it is required to have a smooth grasp between the robot and the goal. In this method, a new term is considered for longitude axis to have the control on the final approaching velocity. The proposed method not only ensures the position and velocity match (also referred to as rendezvous) but also can be used to set the final closing velocity to any desired value. Approaching velocity can be zero for grasping the goal or a specific known velocity for hitting it in a controlled manner. It is shown that the capture region of the proposed approach is wider that other proportional navigation based methods. The proposed method is implemented on Qbot-2 and its performance is experimentally validated.