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Optimal rendezvous-point selection for robotic interception of moving objects.

E A Croft1, R G Fenton, B Benhabib

  • 1Dept. of Mech. Eng., British Columbia Univ., Vancouver, BC.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|February 8, 2008
PubMed
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This study introduces a new method for robotic interception of moving objects. It optimizes the rendezvous-point selection for earlier and more efficient object capture.

Area of Science:

  • Robotics
  • Artificial Intelligence
  • Control Systems

Background:

  • Active Prediction Planning and Execution (APPE) systems are crucial for robotic interception.
  • Current APPE systems often rely on non-optimal rendezvous-point selection.
  • Tracking-based systems focus on minimizing state differences, not direct interception points.

Purpose of the Study:

  • To present a novel strategy for selecting the optimal (earliest) rendezvous-point for robotic interception.
  • To improve upon existing APPE strategies for capturing moving objects.
  • To enhance the efficiency of robotic interception systems.

Main Methods:

  • Developed a new strategy for identifying the optimal rendezvous-point on a predicted object trajectory.
  • The robot is directed straight to the selected rendezvous-point.

Related Experiment Videos

  • A fine-motion tracking strategy is used for the final grasp.

    • Main Results:

    • The proposed strategy significantly improves upon previous APPE methods for predictable trajectories.
    • Achieves earlier rendezvous-points compared to non-optimal candidate selection.
    • Enables more efficient interception of moving objects.

    Conclusions:

    • The novel strategy offers a significant advancement in APPE systems.
    • Optimal rendezvous-point selection is key for efficient robotic interception.
    • This method enhances the capability of robots to intercept moving objects.