Moving Target Interception Considering Dynamic Environment

TL;DR

This paper presents a novel algorithm for intercepting moving targets with wheeled robots in dynamic environments, integrating prediction, path planning, and obstacle avoidance to improve accuracy and safety.

Contribution

It introduces a comprehensive interception algorithm that considers dynamic obstacles, predicts target movement, and optimizes trajectory planning using Hybrid A* and Bzier curves.

Findings

Successful interception in simulations

High computational efficiency

Effective dynamic obstacle avoidance

Abstract

The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target through polynomial fitting. The algorithm then generates an interception trajectory with path and speed decoupling. We use Hybrid A* search to plan a path and optimize it via gradient decent method. To avoid the dynamic obstacles in the environment, we introduce ST graph for speed planning. The speed curve is represented by piecewise B\'ezier curves for further optimization. Compared with other interception algorithms, we consider a dynamic environment and plan a safety trajectory which satisfies the kinematic characteristics of the wheeled robot while ensuring the accuracy of interception. Simulation illustrates that the algorithm successfully achieves the interception tasks and has high computational efficiency.