A method for robot navigation toward a moving goal with unknown maneuvers

摘要

This paper deals with a method for robot navigation towards a moving goal. The goal maneuvers are not a priori known to the robot. Our method is based on the use of the kinematics equations of the robot and the goal combined with geometrical rules. First a kinematics model for the tracking problem is derived and two strategies are suggested for robot navigation, namely the velocity pursuit guidance law and the deviated pursuit guidance law. It turns out that in both cases, the robot's angular velocity is equal to the line of sight angle rate. Important properties of the navigation strategies are discussed and proven. In the presence of obstacles, two navigation modes are used: the tracking mode, which has a global aspect and the obstacle avoidance mode, which has a local aspect. In the obstacle avoidance mode, a polar diagram combining information about obstacles and directions corresponding to the pursuit is constructed. An extensive simulation study is carried out, where the efficiency of both strategies is illustrated for different scenarios.