Dubins Vehicle Interception of a Moving Target

摘要

In this work we examine the problem of intercepting a moving targetrnwith a pursuer that only moves forwards in constant speed and whosernradius of turn is bounded from below. We assume that the target isrnmoving in a straight line with constant speed and the target's velocityrnis known to the pursuer with no measurement error. We analyze bothrnthe problem of minimum-time interception, as well as the problem ofrninterception at a predefned time. We establish lower and upper boundsrnon the minimum time to interception that are easy to compute. Wernexamine the relation between shortest paths and minimum time inter-rnception paths, we give conditions for the two types of paths to coincidernand show cases where they diu000ber. Finally, we propose two algorithms forrnthe elongation of an admissible path and examine the algorithms' prop-rnerty of continuity. All of the above analysis is also conducted in scenariosrnwhere the target is located near or inside the pursuer's minimum turningrnradius.