A NOVEL NAVIGATION METHOD FOR PURSUING A MOVING TARGET

Document Type: Regular Paper

Authors

Faculty of Mathematics and Computer Sciences, Amirkabir University of Technology, 424 Hafez Ave, 15914 Tehran, I. R. of Iran

Abstract

The most current pursuit algorithms for moving targets which are presented so far in the literature
are Pure Pursuit and Pure Rendezvous navigations. Recently, one of the present authors has introduced a
geometric model for the Pure Pursuit navigation algorithm. Here, in this paper, we study a new algorithm for
the pursuit navigation problem which is a combination of both of the above algorithms. We study its
geometric properties, as well as the trajectories as time optimal paths. Finally, we compare this algorithm with
well-known algorithms in some real examples.

Keywords