Active prediction, planning and execution system for interception of moving objects

D. Hujic, G. Zak, E. Croft, R. G. Fenton, J. K. Mills, B. Benhabib

Research output: Contribution to conferencePaper

10 Citations (Scopus)


An Active Prediction, Planning and Execution approach to object interception is applied to the problem of catching a moving object. The object motion cannot be accurately predicted into the future necessitating active path replanning. Unlike the APPE systems reported in the literature, which at best can select a rendezvous-point amongst a few non-optimal interception points, the proposed APPE system is able to intercept the object anywhere along its predicted trajectory. Time-optimal object interception is accomplished by planning the rendezvous-point at the earliest possible time using a quintic-polynomial trajectory planner. Simulation and experimental results are reported.

Original languageEnglish
Number of pages6
Publication statusPublished - 1 Jan 1995
Externally publishedYes
EventIEEE International Symposium on Assembly and Task Planning 1995 - Pittsburgh, United States of America
Duration: 10 Aug 199511 Aug 1995


ConferenceIEEE International Symposium on Assembly and Task Planning 1995
Country/TerritoryUnited States of America

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