Near minimum time control and time estimation to intercept mobile targets under robot dynamics constraints

Javier Alcazar, Laboratory for Intelligent Machine Systems, Cornell University

This work analyzes the kinematics and dynamics of a four wheel omnidirectional drive robot pursuer. A feedback linearization is proposed that yields to decoupled dynamics of the robot vehicle. Minimum time Bang-bang control is computed. Closed form equations for the estimated time to intercept target are obtained to aid in the design of minimum time controllers. A possible set of trajectories for the minimum time interception are presented.