Rendezvous and Standoff Target Tracking Guidance Using Differential Geometry

  • Authors:

  • Hyondong Oh;Seungkeun Kim;Hyo-Sang Shin;Brian A. White;Antonios Tsourdos;Camille Alain Rabbath

  • Affiliations:

  • Department of Engineering Physics, Cranfield University, Cranfield, UK MK43 0AL;Department of Aerospace Engineering, Chungnam National University, Daejeon, Republic of Korea 305-764;Department of Engineering Physics, Cranfield University, Cranfield, UK MK43 0AL;Department of Engineering Physics, Cranfield University, Cranfield, UK MK43 0AL;Department of Engineering Physics, Cranfield University, Cranfield, UK MK43 0AL;Precision Weapons Section, Defence Research and Development Canada Valcartier, North Quebec, Canada G3J 1X5

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2013

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Abstract

This paper proposes UAV rendezvous and standoff tracking guidance laws against a moving target using differential geometry. Searching and subsequent tracking of moving ground based target is one of the primary capabilities of cooperative UAVs. In performing such missions, UAVs are to approach a target and keep a certain distance, known as a standoff distance. This allows target tracking without being noticed and acquisition of accurate target information. In this study, standoff target tracking is proposed using the solution of differential geometry between the UAV and the target. The proposed algorithm brings several advantages along with its inherent simplicity: rigorous stability, explicit use of a target velocity, and tuning parameter reduction. The feasibility and performance of the proposed approach is not only mathematically analysed, but also verified through realistic scenarios.