Moving Convoy Monitoring using Deviated Pursuit Guidance

This paper presents a strategy based on the deviated pursuit guidance (DPG) for an Uncrewed Aerial Vehicle (UAV) to monitor a convoy of moving vehicles, while traversing through a set of pre-defined offset viewpoints relative to the moving vehicle’s reference frame. The lead angle in the DPG is determined such that the UAV reaches the offset viewpoint relative to a moving vehicle. Further, the guidance strategy is analyzed with respect to its flexibility in handling different speed ratios and for reaching different offset viewpoints relative to the vehicle. Simulation results present various scenarios to validate the proposed strategy.