Development of a Method for Approaching the Autonomous Vehicle to a Moving Object

The paper considers the development of a method for approaching an autonomous vehicle to a moving object. Approaching to objects may be necessary in various fields, for example, when landing an unmanned aircraft on a moving platform, animals and marine wildlife photo and videorecording, following the leader in group control, etc. It is assumed that the coordinates of the object are obtained without delay, however, at some points in time, position data is not received, that is, the trajectory of the object is represented by several separate segments of the trajectory. The paper proposes to use a combination of two classical guidance methods to approach the object. This eliminates the disadvantages of both methods and increases the overall efficiency of movement to the object. The pursuit method is used at short distances between the controlled vehicle and the object. The proportional approach method is used at long distances. A comparison of the simulation results on the generated data of the developed algorithm with the results obtained using only classical methods confirms the efficiency of simultaneous use of two guidance methods.