Investigation of the usefulness of the linear homing guidance law for the motion planning of mechatronic systems

Guidance laws constitute one of the most significant factors which define the performance characteristics of the guidance systems designed to steer the guided munitions such as missiles and guided bombs towards predefined targets. The guidance laws designated according to determinative agents such as the firing position of the munition, target type, and operational requirements try to provide the munition with arriving at the target point even under the disturbing effects. In this study, the applicability of the guidance laws to other mechatronic systems is investigated in a manner similar to the approach for the guided munitions. In this extent, the motion planning of the selected robotic arm, tracked land vehicle, and quadrotor is tried to be performed in order to move them to predefined target points. Having designed the control systems compatible to the selected guidance laws for the considered systems, the corresponding guidance scheme is constructed. Eventually, after conducting the relevant computer simulations, it is observed that the desired target chase can be made in a successive manner for all cases.