A Path Planning Model for Intercepting a Moving Target with Finite Obstacle Avoidance
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866915368804548608 |
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| author | Akter, Masuda Rizvi, Mohammed Mustafa |
| author_facet | Akter, Masuda Rizvi, Mohammed Mustafa |
| contents | This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at constant speeds. We formulate an optimal control problem that integrates two critical objectives: avoiding static obstacles and successfully intercepting the target. The approach introduces constraints derived from obstacle avoidance and target interception requirements. A geometric framework is developed, along with sufficient conditions for path optimality under the imposed constraints. The problem is initially examined in the presence of a single obstacle and later extended to scenarios involving a finite number of obstacles. Numerical experiments are carried out to evaluate the performance and efficiency of the proposed model using illustrative examples. Finally, we present a realistic case study using actual geographic data, including obstacle placement, target trajectory, and heading angles, to demonstrate the practical applicability and effectiveness of the proposed method in real-world scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_01447 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Path Planning Model for Intercepting a Moving Target with Finite Obstacle Avoidance Akter, Masuda Rizvi, Mohammed Mustafa Optimization and Control 90-XX This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at constant speeds. We formulate an optimal control problem that integrates two critical objectives: avoiding static obstacles and successfully intercepting the target. The approach introduces constraints derived from obstacle avoidance and target interception requirements. A geometric framework is developed, along with sufficient conditions for path optimality under the imposed constraints. The problem is initially examined in the presence of a single obstacle and later extended to scenarios involving a finite number of obstacles. Numerical experiments are carried out to evaluate the performance and efficiency of the proposed model using illustrative examples. Finally, we present a realistic case study using actual geographic data, including obstacle placement, target trajectory, and heading angles, to demonstrate the practical applicability and effectiveness of the proposed method in real-world scenarios. |
| title | A Path Planning Model for Intercepting a Moving Target with Finite Obstacle Avoidance |
| topic | Optimization and Control 90-XX |
| url | https://arxiv.org/abs/2507.01447 |