Line of sight robot navigation toward a moving goal

Abstract

Abstract-In this paper, we consider the problem of robot tracking and navigation toward a moving goal. The goal's maneuvers are not a priori known to the robot. Thus, off-line strategies are not effective. To model the robot and the goal, we use geometric rules combined with kinematics equations expressed in a polar representation. The intent of the strategy is to keep the robot between a reference point, called the observer, and the goal. We prove under certain assumptions that the robot navigating using this strategy reaches the moving goal successfully. In the presence of obstacles, the method is combined with an obstacle avoidance algorithm. The robot then moves in two modes, the navigation mode and the obstacle avoidance mode. Simulation of various scenarios highlights the efficiency of the method and provides an instructive comparison between the paths obtained for different reference points.Index Terms-Line of sight guidance law, relative kinematics equations, robotic navigation toward a moving goal, tracking.

Interception of a moving object with a specified approach angle by a wheeled robot: Theory and experiment

“…However, it may happen that as the robot approaches the target, the control effort called for grows 47th IEEE CDC, Cancun, Mexico, Dec. [9][10][11]2008 TuA15.5 without bound. Any real mobile robot has a limited turn radius, so this is clearly a limitation for practice.…”

“…The guidance law 47th IEEE CDC, Cancun, Mexico, Dec. [9][10][11]2008 TuA15.5 is not split into path-planning and path-following stages, but is continuously updated based on immediately available information, making it useful 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.…”

“…The authors of [9] propose a method for intercepting a moving object with a mobile robot based on the line-of-sight navigation techniques well known from the missile guidance literature, and the authors of [10] propose and implement a vision-based interception technique. However, these methods do not allow one to specify the angle of approach.…”

“…The control law with incorrect estimatesθ T ,v T is identical to the control law with true values of θ T , v T , but 47th IEEE CDC, Cancun, Mexico, Dec. [9][10][11]2008 TuA15.5 a differently defined desired approach angleβ , which is the solution of the following equation:…”

Tracking and intercepting pedestrians: a robotic approach to surveillance of critical infrastructures

“…A combination of fuzzy target tracking and fuzzy wall following schemes, has been proposed [99]. Also, a different system uses a control law based on geometrical rules, combined with the kinetics of the UGV and the target [100]. The interception of a group of mobile targets by a team of robotic pursuers has been also studied, one work integrates genetic algorithms and fuzzy logic controllers to solve it [101].…”