Line of sight robot navigation toward a moving goal

Fethi Belkhouche, Boumediene Belkhouche, Parviz Rastgoufard

Research output: Contribution to journalArticlepeer-review

45 Citations (Scopus)


In this paper, we consider the problem of robot tracking and navigation toward a moving goal. The goal's maneuvers 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.

Original languageEnglish
Pages (from-to)255-267
Number of pages13
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number2
Publication statusPublished - Apr 2006
Externally publishedYes


  • Line of sight guidance law
  • Relative kinematics equations
  • Robotic navigation toward a moving goal
  • Tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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