Bearings-only guidance of an autonomous vehicle following a moving target with a smaller minimum turning radius

This paper addresses the problem of following a moving target by an autonomous unmanned vehicle. The target may have higher maneuverability and a smaller minimum turning radius than the pursuing vehicle. The goal is to keep the autonomous 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.