A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control
<p>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 gr...
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| مؤلفون آخرون: | , , |
| منشور في: |
2021
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| الموضوعات: | |
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| _version_ | 1864513560271388672 |
|---|---|
| author | Hadi Ghaderi (741812) |
| author2 | Meysam Yadegar (16410089) Nader Meskin (14147796) Mohammad Noorizadeh (16891371) |
| author2_role | author author author |
| author_facet | Hadi Ghaderi (741812) Meysam Yadegar (16410089) Nader Meskin (14147796) Mohammad Noorizadeh (16891371) |
| author_role | author |
| dc.creator.none.fl_str_mv | Hadi Ghaderi (741812) Meysam Yadegar (16410089) Nader Meskin (14147796) Mohammad Noorizadeh (16891371) |
| dc.date.none.fl_str_mv | 2021-06-21T00:00:00Z |
| dc.identifier.none.fl_str_mv | 10.1109/access.2021.3091152 |
| dc.relation.none.fl_str_mv | https://figshare.com/articles/journal_contribution/A_Novel_Proportional_Navigation_Based_Method_for_Robotic_Interception_Planning_With_Final_Velocity_Control/24042318 |
| dc.rights.none.fl_str_mv | CC BY 4.0 info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Engineering Control engineering, mechatronics and robotics Information and computing sciences Data management and data science Distributed computing and systems software Robots Navigation Robot sensing systems Mobile robots Target tracking Planning Mathematical model Robot trajectory Interception Proportional navigation Approaching velocity |
| dc.title.none.fl_str_mv | A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control |
| dc.type.none.fl_str_mv | Text Journal contribution info:eu-repo/semantics/publishedVersion text contribution to journal |
| description | <p>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.</p><h2>Other Information</h2><p>Published in: IEEE Access<br>License: <a href="https://creativecommons.org/licenses/by/4.0/legalcode" target="_blank">https://creativecommons.org/licenses/by/4.0/</a><br>See article on publisher's website: <a href="https://dx.doi.org/10.1109/access.2021.3091152" target="_blank">https://dx.doi.org/10.1109/access.2021.3091152</a></p> |
| eu_rights_str_mv | openAccess |
| id | Manara2_ae47b182e105a3391c53e2d16cd73482 |
| identifier_str_mv | 10.1109/access.2021.3091152 |
| network_acronym_str | Manara2 |
| network_name_str | Manara2 |
| oai_identifier_str | oai:figshare.com:article/24042318 |
| publishDate | 2021 |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | CC BY 4.0 |
| spelling | A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity ControlHadi Ghaderi (741812)Meysam Yadegar (16410089)Nader Meskin (14147796)Mohammad Noorizadeh (16891371)EngineeringControl engineering, mechatronics and roboticsInformation and computing sciencesData management and data scienceDistributed computing and systems softwareRobotsNavigationRobot sensing systemsMobile robotsTarget trackingPlanningMathematical modelRobot trajectoryInterceptionProportional navigationApproaching velocity<p>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.</p><h2>Other Information</h2><p>Published in: IEEE Access<br>License: <a href="https://creativecommons.org/licenses/by/4.0/legalcode" target="_blank">https://creativecommons.org/licenses/by/4.0/</a><br>See article on publisher's website: <a href="https://dx.doi.org/10.1109/access.2021.3091152" target="_blank">https://dx.doi.org/10.1109/access.2021.3091152</a></p>2021-06-21T00:00:00ZTextJournal contributioninfo:eu-repo/semantics/publishedVersiontextcontribution to journal10.1109/access.2021.3091152https://figshare.com/articles/journal_contribution/A_Novel_Proportional_Navigation_Based_Method_for_Robotic_Interception_Planning_With_Final_Velocity_Control/24042318CC BY 4.0info:eu-repo/semantics/openAccessoai:figshare.com:article/240423182021-06-21T00:00:00Z |
| spellingShingle | A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control Hadi Ghaderi (741812) Engineering Control engineering, mechatronics and robotics Information and computing sciences Data management and data science Distributed computing and systems software Robots Navigation Robot sensing systems Mobile robots Target tracking Planning Mathematical model Robot trajectory Interception Proportional navigation Approaching velocity |
| status_str | publishedVersion |
| title | A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control |
| title_full | A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control |
| title_fullStr | A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control |
| title_full_unstemmed | A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control |
| title_short | A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control |
| title_sort | A Novel Proportional Navigation Based Method for Robotic Interception Planning With Final Velocity Control |
| topic | Engineering Control engineering, mechatronics and robotics Information and computing sciences Data management and data science Distributed computing and systems software Robots Navigation Robot sensing systems Mobile robots Target tracking Planning Mathematical model Robot trajectory Interception Proportional navigation Approaching velocity |