Robot Motion Planning for Multiple Moving Objects Interception with constant acceleration
نویسندگان
چکیده
This paper presents a novel approach to online, robot-motion planning for multiple movingobjects interception with constant acceleration. The position, velocity and acceleration of the free particles are used as kinematics information. This information is used to obtain the multiple interception trajectory. The polynomial interpolation technique is implemented in a 2D robot with to follow the follower-trajectory generated. The implementation of the proposed technique is ilustrated via a simulation example. It consists of the 2D multiple interception of two objects moving along a well-known parabolic trajectory via a robot interceptor.
منابع مشابه
Direct Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration
This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...
متن کاملPlanning Arm with 5 Degrees of Freedom for Moving Objects Based on Geometric Coordinates and Color
Skilled mechanical arms of consanguine relationship formed by joints the relative motion of the adjacent interfaces enable, have been connected. Ability to perform a variety of pre-programmed robotic manipulator in various industries. Skilled mechanical arms in recent years as a significant progress has been completed. House repair and easier to work with them as well and fit and optimal relati...
متن کاملNear-Minimum-Time Motion Planning of Manipulators along Specified Path
The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...
متن کاملOptimal Trajectory Planning of a Box Transporter Mobile Robot
This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
متن کاملThe Attempto Tübingen Robot Soccer Team 2006
This paper describes the Attempto Tübingen Robot Soccer Team 2006. After radical changes in the software and hardware we present a team of six new omnidirectional robots in 2006 together with promising innovative algorithms. Apart from the ability to play at changing illumination we present effective methods of ball interception and efficient path planning around dynamically moving objects usin...
متن کامل