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

摘要

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.