Rendezvous Guidance for the Autonomous Interception of Moving Objects in Cluttered Environments

This paper presents a novel method for the time-optimal interception of moving objects in the presence of obstacles. The proposed method not only provides time-optimal positional interception, but, also simultaneously matches the velocity at which the object is moving in a dynamic environment with static and/or moving obstacles: A rendezvous-guidance technique is utilized in conjunction with a modified cell-decomposition method. Simulation and experimental results clearly demonstrate the efficiency of the proposed interception method.