A Novel Proportional Navigation Based Method for Robotic Interception Planning with Final Velocity Control
MetadataShow full item record
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.
- Electrical Engineering [2349 items ]
Showing items related by title, author, creator and subject.
An experimental study of the amphibious robot inspired by biological duck foot Kashem S.B.A.; Jawed S.; Ahmed J.; Iqbal A. ( Institute of Electrical and Electronics Engineers Inc. , 2018 , Conference Paper)A lot of issues are faced in the exploration due to complexity of terrain and/or unexpected environment, due to which many places are left unmapped. The aim of this project is to design and develop an amphibious robot which ...
Culture as a driver for the design of social robots for Autism spectrum disorder interventions in the Middle East Javed, Hifza; Cabibihan, John John; Aldosari, Mohammad; Al-Attiyah, Asma ( Springer Verlag , 2016 , Conference Paper)In this paper, we discuss the prevalence of Autism Spectrum Disorder (ASD) in the Gulf region. We examine the importance of providing state-of-the-art ASD interventions, and highlight social robots as therapeutic tools ...
Humanoid Robot as a Teacher's Assistant: Helping Children with Autism to Learn Social and Academic Skills Qidwai, Uvais; Kashem, Saad Bin Abul; Conor, Olcay ( Springer Netherlands , 2019 , Article)Autism Spectrum Disorder (ASD) is becoming a growing concern worldwide. Parents are often not aware of the different nature of children with ASD and attempt to treat him/her the same way as other children. However, that ...