Time-optimal interception of objects moving along predictable paths

Elizabeth A. Croft, Robert G. Fenton, Beno Benhabib

Research output: Contribution to conferencePaper

6 Citations (Scopus)


This paper focuses on planning strategies for object-interception, within the context of an Active Prediction Planning and Execution (APPE) strategy. Herein, the goal is to bring the robot end-effector to a pre-grasping location, so that a fine-motion grasping-strategy can be used. This objective is optimized within the APPE strategy by solving two problems: (i) selection of an optimal rendezvous-point; and, (ii) planning of a time-optimal robot-trajectory to this rendezvous-point. Problem (i), addressed herein, is formulated as a minimization of the robot-target interception-time. An adaptive planning algorithm is proposed, where only the exact amount of computation time required is used to find the optimal rendezvous-point. Within this strategy, uncertainties must be expected and tolerated. The level of uncertainty provides a convergence constraint for the planning algorithm. The operation of this planning strategy is demonstrated via computer simulation. Experimental work using this approach is also cited.

Original languageEnglish
Number of pages7
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
CountryUnited States of America

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