18 research outputs found
Feedback Navigation in an Uncertain Flow Field and Connections with Pursuit Strategies
Copyright ©2012 by E. Bakolas and P. Tsiotras. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission.DOI: 10.2514/1.54950This paper presents several classes of control laws for steering an agent, that is, an
aerial or marine vehicle, in the presence of a both temporally and spatially varying drift
field induced by local winds/currents. The navigation problem is addressed assuming
various information patterns about the drift field in the vicinity of the agent. In particular, three cases are considered, namely when the agent has complete information
about the local drift, when the drift field is partially known, and when the drift field is
completely unknown. By first establishing a duality between the navigation problem
and a special class of problems of pursuit of a maneuvering target, several navigation
schemes are presented, which are appropriately tailored to the fidelity of
the information about the local drift available to the agent. The proposed navigation laws are dual
to well-known pursuit strategies, such as pure pursuit, parallel guidance/navigation,
line-of-sight guidance, motion camouflage, and pursuit with neutralization. Simulation
results are presented to illustrate the theoretical development