NDLI: Predictive Guidance-Based Navigation for Mobile Robots: A Novel Strategy for Target Interception on Realistic Terrains

Content Provider	Springer Nature Link
Author	Kunwar, Faraz Sheridan, Patricia K. Benhabib, Be
Copyright Year	2010
Abstract	This paper presents a novel online trajectory planning method for the autonomous robotic interception of mobile targets in the presence of dynamic obstacles. The objective is time-optimal position and velocity matching (also referred to as rendezvous) while traversing realistic terrains with uneven topologies. The primary novelty of the proposed interception method lies in its ability to minimize rendezvous time with the target, as well as energy consumption, by directly considering the dynamics of the obstacles and the target while accurately determining a feasible way to travel through the realistic terrain. This objective is achieved by computing rendezvous maneuvers using an advanced predictive guidance law. The method is designed to effectively cope with maneuvering targets/obstacles by predicting their future velocities and accelerations. Obstacle avoidance and terrain navigation are seamlessly integrated. Extensive simulation and experimental analyses, some of which are reported in this paper, have clearly demonstrated the time efficiency of the proposed rendezvous method.
Starting Page	367
Ending Page	398
Page Count	32
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	59
Issue Number	3-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2010-02-20
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Terrain navigation Autonomous navigation Target interception Online trajectory planning Rendezvous guidance Mechanical Engineering Artificial Intelligence (incl. Robotics) Electrical Engineering Control , Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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