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.
|Number of pages||6|
|Publication status||Published - 1 Jan 1995|
|Event||IEEE International Symposium on Assembly and Task Planning 1995 - Pittsburgh, United States of America|
Duration: 10 Aug 1995 → 11 Aug 1995
|Conference||IEEE International Symposium on Assembly and Task Planning 1995|
|Country||United States of America|
|Period||10/08/95 → 11/08/95|