Time-optimal rendezvous with moving objects in dynamic cluttered environments using a guidance based technique

This paper presents a novel method for the time-optimal rendezvous of an autonomous vehicle with moving targets in the presence of dynamic obstacles. This interception problem is addressed by utilizing the velocity obstacle approach of Fiorni and Shiller augmented with a rendezvous-guidance algorith...

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Bibliographic Details
Published in2005 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 283 - 288
Main Authors Kunwar, F., Wong, F., Mrad, R.B., Benhabib, B.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Acceleration
Hardware
Industrial engineering
Mobile robots
Navigation
navigation-guidance
obstacle-avoidance
Radio frequency
Robot control
Robot vision systems
Roentgenium
Time-optimal interception
Vehicle dynamics
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Summary:This paper presents a novel method for the time-optimal rendezvous of an autonomous vehicle with moving targets in the presence of dynamic obstacles. This interception problem is addressed by utilizing the velocity obstacle approach of Fiorni and Shiller augmented with a rendezvous-guidance algorithm. However, the velocity obstacle approach had to be modified to ensure that the real-time planned path deviates minimally from the one generated by the rendezvous-guidance algorithm. Simulation and experimental results, some of which are presented in this paper, clearly demonstrate the efficiency of the proposed interception method
ISBN:0780389123
9780780389120
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2005.1544995