考虑运动学和动力学限制的串联机械臂拦截运动目标时各种导航制导方法的性能比较

2010 15th International Conference on Methods and Models in Automation and Robotics Pub Date : 2010-09-27 DOI:10.1109/MMAR.2010.5587234

Mohammad Keshmiri, M. Keshmiri

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引用次数: 19

摘要

本文对用于拦截快速机动运动目标的各种导航制导方法进行了比较分析。概论部分对相关作品进行了略读修订。目前正在调查四种常见的导航制导方法，即PNG、APNG、IPNG和AIPNG。结果表明，它们在平滑拦截运动物体方面存在缺陷。因此，为了改进导航制导方法并使其适应机器人问题，提出了用于二维问题的AIPNG改进版本，并开发了用于三维问题的AIPNG。

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Performance comparison of various navigation guidance methods in interception of a moving object by a serial manipulator considering its kinematic and dynamic limits

In this paper a comparative analysis is represented on various navigation guidance methods used for intercepting fast maneuvering moving objects. A glancing revision is introduced on relevant works within the introduction section. Four common methods for navigation guidance known as PNG, APNG, IPNG and AIPNG are under investigation. Results demonstrate their infirmity on smoothly intercepting a moving object. Hence, to improve the navigation guidance methods and to adapt them with robotic problems a modified version of AIPNG is proposed for 2D problems and is developed for 3D problems utilization.

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2010 15th International Conference on Methods and Models in Automation and Robotics

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