Circular-Navigation-Guidance Law for Precision Missile/Target Engagements

Manchester, Ian R.; Savkin, Andrey V.

doi:10.2514/1.13275

Cited by 141 publications

(9 citation statements)

References 12 publications

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“…Such sensors are commonplace and inexpensive, yet provide sufficient information for our control system to achieve its goal. Our control law extends recent results on mobile-robot navigation to a stationary goal [5], [6], and is parallels developments in precision missile guidance with an impact-angle constraint [7], [8], [9], [10] in guidance laws were derived by combining geometrical considerations with robust control and filtering theory [11], [12], [13], [14], [15].…”

Section: Introductionsupporting

confidence: 74%

Vision-Based Interception of a Moving Target by a Mobile Robot

Manchester

Low

Savkin

2007

2007 IEEE International Conference on Control Applications

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We present a robot navigation technique, termed circular navigation guidance (CNG), which solves the challenging problem of intercepting a moving target from a specific angle, using only data from a video camera. The guidance law is not split into path-planning and path-following stages, but is continuously updated based on immediately available information, making it practical even against a manoeuvring target, or where only incomplete information is available to the robot. This is achieved by converting a finite-time navigation problem into one of maintaining a certain geometric condition at all times. Theoretical and experimental results are presented, which support CNG as a practically useful tool for robot navigation.

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Section: Introductionsupporting

confidence: 74%

Vision-Based Interception of a Moving Target by a Mobile Robot

Manchester

Low

Savkin

2007

2007 IEEE International Conference on Control Applications

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“…The robot collects all the information from the sensors and proceeds to evaluate the actions required to avoid the obstacle, in other words, it finds the route away from the collision path. The algorithm applied comes from an extensive analysis performed in documents such as [13] and [19]. As shown in Again, we can consider the existence of a fictitious target  , located at a distance to the robot denoted by r s and an angle φ ∆ which becomes the rate of change necessary to keep a distance d o from the obstacle while avoiding it.…”

Section: Obstacle Avoidance Techniquementioning

confidence: 99%

Review and Simulation of a Novel Formation Building Algorithm While Enabling Obstacle Avoidance

Levkovsky¹

2021

WJET

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Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to eliminate the risk of human injuries while working on hazardous tasks, and to improve productivity. Globally, engineers are continuously researching better, simple, and faster cooperative Control algorithms to provide a Control strategy where each agent in the robot formation can communicate effectively and achieve a consensus in their position, orientation and speed. This paper explores a novel Formation Building Algorithm and its global stability around a configuration vector. A simulation in MATLAB ® was carried out to examine the performance of the Algorithm for two geometric formations and a fixed number of robots. In addition, an obstacle avoidance technique was presented assuming that all robots are equipped with range sensors. In particular, a uniform rounded obstacle is used to analyze the performance of the technique with the use of detailed geometric calculations.

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“…Manchester and Savkin [17] have proposed a circular guidance law for intercepting nonmaneuvering and maneuvering targets. Ariff et al [18] have proposed a geometric guidance law for circularly maneuvering targets.…”

Section: Introductionmentioning

confidence: 99%

Kill-Band-Based Lateral Impact Guidance Without Line-of-Sight Rate Information

Ratnoo

Ghose

2012

Journal of Guidance, Control, and Dynamics

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A geometric guidance scheme is proposed for lateral interception of targets in the absence of line-of-sight rate information. A kill-band is defined for target positions capturable by an interceptor using arc maneuver followed by a straight line course. Detailed analytic study of the kill-band and its boundaries is presented. Interceptor speed and heading requirements are derived for expanding the kill band. Based on the kill-band and maneuvers to control its size, guidance laws are proposed for nonmaneuvering and maneuvering targets, respectively. The proposed scheme is based on instantaneous target position and velocity information. The kill-band concept inherently provides robustness to the proposed scheme with respect to uncompensated dynamic lags and target maneuvers. Numerical simulations are carried out to support the analytical findings.

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Circular-Navigation-Guidance Law for Precision Missile/Target Engagements

Cited by 141 publications

References 12 publications

Vision-Based Interception of a Moving Target by a Mobile Robot

Vision-Based Interception of a Moving Target by a Mobile Robot

Review and Simulation of a Novel Formation Building Algorithm While Enabling Obstacle Avoidance

Kill-Band-Based Lateral Impact Guidance Without Line-of-Sight Rate Information

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