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Bearings-Only Guidance of a Unicycle-Like Vehicle Following a Moving Target With a Smaller Minimum Turning Radius

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2 Author(s)
Savkin, A.V. ; Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia ; Teimoori, H.

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.

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Automatic Control, IEEE Transactions on  (Volume:55 ,  Issue: 10 )