Navigation-guidance-based robot trajectory planning for interception of moving objects

Navigation-Guidance-Based Robot Trajectory Planning for Interception of Moving Objects. Ph.D. Thesis, 1999, Mehran Mehrandezh, Department of Mechanicd and Industrial Engineering, University of Toronto. Motivated by current trends in automation of industrial applications, the general problem area addressed in this thesis is "on-line robot-motion planning for intercepting randody moving objects. " The specific objective of the thesis is "the use of navigation-guidance techniques in the development of a generalized scheme that can intercept a randomly moving object with timeTwo novel methods are presented for on-line-robotic-interception of fast-maneuvering objects which do not require a priori information on the moving-object's motion. Both techniques combine a navigation-guidance-based method with a conventionai object-tracking technique. Thus, they are classfied as hybrid interception schemes with two phases: Phase 1, during which the robot is under the control of a navigation-guidance-based technique, and Phase D, during which the robot's control is switched to a conventional tracking method. For the first proposed method, an Ideal Proportional Navigation Guidance (IPNG) technique is used during Phase 1. This technique moves the interceptor rapidly toward the rendezvous point. For the second proposed method, the augmented form of the M G technique is suggested for Phase 1, when a reliable estimation of the target's acceleration can be provided to the interceptorBoth techniques are modified in this thesis to reflect the greater mobility of a robotic manipulator over an airborne missile for robotic interception of fast-maneuvering targets. Since IPNG techniques have been originally designed for missile guidance, they do not attempt to match the target's velocity at the interception point. In this thesis, for smooth interception, a tracking method is proposed to be switched on to at an optimal time in order to bring the robot to the interception point matching both target's position and velocity. On-line selection of this timeoptimal switching point is discussed in the dissertationThe convergence of the proposed interception methods under ideal conditions is addressed. The effect of noise in target's position readings on the on-line estimation of the interception time, and, subsequently, on the overall performance of the proposed technique is dso discussed, Extensive computer simulations illustrate the effectiveness of the IPNG-based interception methods developed in this thesis over pure tracking-based techniques proposed in the cited literature. I wish to thank my CO-supervisor. Professor B. Benhabib for his guidance, encouragement, and support during the coune of this research. His exemplary personality and technical insight have made my graduate research fruitful and enjoyable. I have been extremely fortunate to have him as an advisor. 1 also thank my other CO-supervisor Professor R.G. Fenton. for his perceptive comrnents and invaluable help throughout this work. 1 am indebted to Dr. M.N. Sela for his professional advice during the first two years of my Ph.D. program. The Computer Integrated Manufacniring Laboratory (CIMLab) has always been a friendly and stimulating research environment. 1 would like to thank my fellow students for their good-natured attitude, especiaily Our lab's computer wizards Dr. G. Zak and Mr. M. Bonert for their practical help and Mr. A. Rarnirez for his fnendship. My parents and my sisters have never wavered in their support of me. Their constant love, encouragement, and prayer provided me with emotional support. My wife, Mahbobeh, has been truly patient throughout this time. 1t is to her that 1 dedicate this thesis. 1 have been blessed with two lovely sons, Erfan and Ali. They have been the joy of my every day' s Iife. Thank you guys for everything. The financial support provided to me by the Department of Mechanical and Industria1 Engineering and the School of Graduate Studies at University of Toronto are greatly acknow ledged, Finally, 1 thank God for his silent support in al1 the moments of accomplishing this research.