Line of Sight Robot Navigation Toward a Moving Goal

Abstract—In this paper, we consider the problem of robot tracking and navigation toward a moving goal. The goal’s maneu-vers are not a priori known to the robot. Thus, off-line strategies are not effective. To model the robot and the goal, we use geometric rules combined with kinematics equations expressed in a polar representation. The intent of the strategy is to keep the robot between a reference point, called the observer, and the goal. We prove under certain assumptions that the robot navigating using this strategy reaches the moving goal successfully. In the presence of obstacles, the method is combined with an obstacle avoidance algorithm. The robot then moves in two modes, the navigation mode and the obstacle avoidance mode. Simulation of various scenarios highlights the efficiency of the method and provides an instructive comparison between the paths obtained for different reference points. Index Terms—Line of sight guidance law, relative kinematics equations, robotic navigation toward a moving goal, tracking. I