Towards a Novel Family of Algorithms in Pursuit Navigation

• Published in: Journal of dynamical systems and geometric theories Vol. 18; no. 1; pp. 15 - 26
• Main Authors: Attarchi, Hassan, Bidabad, Behroz, Torbaghan, Seyed Mehdi Kazemi, Khosravi, Mohammad Reza
• Format: Journal Article
• Language: English
• Published: Taylor & Francis 02-01-2020
• Subjects: Hybrid pursuit; Navigation; Pure pursuit; Pure rendezvous
• ISSN: 1726-037X; 2169-0057
• DOI: 10.1080/1726037X.2020.1774155

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.