the most current pursuit algorithms for moving targets which are presented so far in the literatureare pure pursuit and pure rendezvous navigations. recently, one of the present authors has introduced ageometric model for the pure pursuit navigation algorithm. here, in this paper, we study a new algorithm forthe pursuit navigation problem which is a combination of both of the above algorithms. ...

Abstract This paper introduces an advanced pure pursuit guidance method for chase UAV. The advanced pure pursuit guidance method employs a sliding mode approach using a proper Lyapunov function, which is based on a three-dimensional expression related to a line of sight (LOS) angle. In order to apply the sliding mode approach to the pure pursuit guidance, a simple surface vector and a derivatio...

The accelerated deployment of service robots have spawned a number algorithm variations to better handle real-world conditions. Many local trajectory planning techniques been deployed on practical robot systems successfully. While most formulations Dynamic Window Approach and Model Predictive Control can progress along paths optimize for additional criteria, the use pure path tracking algorithm...

Fundamental to the design of an Ackerman steered autonomous ground vehicle is the development of a low-level controller that effectively performs trajectory or path tracking. Though ample literature is available on various methods for controlling ground vehicles, little information is presented on the implementation and tuning of such controllers. Moreover, few sources extend ground vehicle con...

Pursuit and evasion strategies are used in both biological and engineered settings; common examples include predator-prey interactions among animals, dogfighting aircraft, car chases, and missile pursuit with target evasion. In this paper, we consider an evolutionary game between three strategies of pursuit (classical, constant bearing, motion camouflage) and three strategies of evasion (classi...

The paper introduces a method for generating trajectories with curve sharpness and curvature constraints. Trajectories are based on continuous-curvature paths using Single & Double Continuous-Curvature paths. The paper also proposes a multi-rate control scheme by considering different dynamics with different sampling frequencies: global path planner at low frequency; target update based on Look...

According to the features of headland turning, new path planning and headland turning control algorithms for autonomous agricultural machine were presented in this paper. The turning path planning considered both the minimum turning radius and headland space was created by applying three straight lines. A path tracking algorithm based on the improved pure pursuit model was also proposed. This s...

A smooth-primitive constrained-optimization-based path-tracking algorithm for mobile robots that compensates for rough terrain, predictable vehicle dynamics, and vehicle mobility constraints has been developed, implemented, and tested on the DARPA LAGR platform. Traditional methods for the geometric path following control problem involve trying to meet position constraints at fixed or velocity ...