Bearings-Only Guidance of a Unicycle-Like Vehicle Following a Moving Target With a Smaller Minimum Turning Radius

This technical note addresses the problem of following a moving target by a unicycle-like vehicle. The target may have higher maneuverability and a smaller minimum turning radius than the pursuing vehicle. The goal is to keep the unicycle-like vehicle as close as possible to the target all the time. We present a simple and constructive bearings-only guidance law and give its mathematically rigorous analysis.