Range Measurements Based UAV Navigation for Intercepting Ground Targets

This paper presents a novel methodology for a UAV to intercept stationary or moving ground targets of interest. The method can be implemented with minimal computational burden and minimal sensing. The only sensing required is range measurements. The method is based on a sliding mode controller that implements a heading controller for a UAV. Detailed theoretical formulations and all the necessary proofs are given in this paper. This is followed by simulations and real-life experimentation which demonstrate the successful applicability of the proposed method.