Title :
Bearings-Only Guidance of a Unicycle-Like Vehicle Following a Moving Target With a Smaller Minimum Turning Radius
Author :
Savkin, Andrey V. ; Teimoori, Hamid
Author_Institution :
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
Abstract :
This technical note addresses the problem of following a moving target by a unicycle-like vehicle. The target may have higher maneuverability and a smaller minimum turning radius than the pursuing vehicle. The goal is to keep the unicycle-like vehicle as close as possible to the target all the time. We present a simple and constructive bearings-only guidance law and give its mathematically rigorous analysis.
Keywords :
mathematical analysis; mobile robots; remotely operated vehicles; robot kinematics; target tracking; bearings only guidance law; minimum turning radius; unicycle like vehicle; Helium; Kinematics; Mobile robots; Navigation; Remote sensing; Remotely operated vehicles; Surveillance; Target tracking; Turning; Unmanned aerial vehicles; Bearings-only guidance; target surveillance; target tracking; unicycle-like vehicles;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2010.2057150
