Towards a Novel Family of Algorithms in Pursuit Navigation. Issue 1 (2nd January 2020)

• Record Type: Journal Article
• Authors: Attarchi, Hassan; Bidabad, Behroz; Torbaghan, Seyed Mehdi Kazemi; Khosravi, Mohammad Reza
• Is Part Of: Journal of dynamical systems and geometric theories. Volume 18:Issue 1(2020)
• Page Start: 15
• Page End: 26
• Publication Date: 2020-01-02
• Subjects: 53A17 -- 70B05; Pure pursuit -- Pure rendezvous -- Hybrid pursuit -- Navigation; Differentiable dynamical systems -- Periodicals; Geometry -- Periodicals; Differentiable dynamical systems; Geometry; Periodicals; 515.39
• DOI: 10.1080/1726037X.2020.1774155
• Languages: English
• ISSNs: 1726-037X

Abstract

Abstract: The problem of tracking and navigation towards a moving target is always one of the main topics in robotics. In this paper, following our recent work in the plane, a novel on-line strategy is used to guide a pursuer in space. This strategy is called hybrid pursuit navigation and it is a combination of two well-known pursuit algorithms the pure-pursuit and the pure-rendezvous navigation. To show the reliability of this new method, it is proved that the pursuer reaches the target under the hybrid pursuit navigation. Moreover, by simulating different scenarios, the advantage of this algorithm is demonstrated in comparison with two well-known algorithms.