Target following using a vector field approach

Abstract

Presented in this paper is a method for following a moving target with a mobile platform derived from a vector field navigation algorithm. A navigation method that took the position and heading of a waypoint as its defining parameters was modified to suit the needs of creating a target following algorithm. This algorithm will be shown to successfully be able to control a vehicle to follow a known target under varying circumstances. Vehicle manoeuvrability will be examined by adjusting parameters such as target velocity, the vehicle velocity profile and trailing distance.