NDLI: Navigation control for tracking and catching a moving target

Content Provider	IEEE Xplore Digital Library
Author	Takagi, F. Sakahara, H. Tabata, T. Yamagishi, H. Suzuki, T. Miyazaki, F.
Copyright Year	2009
Description	Author affiliation: Graduate School of Engineering Science, Osaka University, Toyonaka, 560-8531, Japan (Sakahara, H.; Tabata, T.; Suzuki, T.; Miyazaki, F.) \|\| Advanced Technology R&D Center, Mitsubishi Electric Corporation, Amagasaki, 661-8661, Japan (Takagi, F.) \|\| Tokyo Metropolitan College of Industrial Technology, Shinagawa, 140-0011, Japan (Yamagishi, H.)
Abstract	This paper presents feedback control laws for pursuing and catching a fly ball by taking Chapman's hypothesis into the closed-loop system connecting perceptions and actions. Through the analysis of the closed-loop system, we make it clear that the hypothetical trajectory Chapman showed is a special dynamic solution of the closed-loop system. Moreover, using a motion-analyzing technique over a finite time, it is shown that the proposed feedback control laws make it possible to generate a pursuing trajectory automatically that a fly ball can be caught in the right place and at the right time. It is also shown that the pursuing trajectory gets closer to the one Chapman showed as a feedback gain increases. In addition, we compare the proposed feedback control laws with Proportional Navigation (PN) which is the most common navigation technique for tracking a moving target, and demonstrate that the proposed control laws perform better than PN.
Starting Page	866
Ending Page	871
File Size	193765
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354835
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Target tracking Feedback control Control systems Acceleration Intelligent robots USA Councils Joining processes Nonlinear control systems Proportional control theorem proving closed-loop systems navigation nonlinear differential equations
Content Type	Text
Resource Type	Article

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