Unmanned Vehicle Target Tracking Method Based on Dubins and Constant Bearing Guidance

In this paper, it is considered that there are always some problems when using a single method for target tracking of unmanned surface vehicles (USV). Only using the constant bearing guidance method will lead to collision risk between USV and target in the encounter scene, and only using Dubins method will lead to poor flexibility after stable tracking. To solve this problem, this paper uses Dubins method to track the target, and switches to constant bearing guidance method to track the target after stable tracking. In the process of research, it is found that the Dubins method needs to calculate the optimal meeting point according to time. It is too complex to solve the problem by using simultaneous equations. In this paper, a fast solution method based on dichotomy approximation can effectively solve this problem. Finally, the simulation shows that the Dubins method has the characteristics of fast convergence and stability compared with the constant bearing guidance method in the two classical scenarios of frontal encounter and oblique encounter.