This paper presents joint motion planning of a vehicle with an attached rotating turret. The turret has a limited range as well as the field of view. The objective is capture a maneuvering target such that at the terminal time it is withing the field-of-view and range limits. Catering to it, we present a minimum effort guidance law that commensurate for the turn rate abilities of the vehicle and the turret. The guidance law is obtained using linearization about the collision triangle and admits an analytical solution. Simulation results are presented to exemplify the cooperation between the turret and the vehicle.

翻译：本文研究了带有旋转炮塔的车辆的联合运动规划问题。炮塔具有有限的作用范围和视场角。目标是捕获机动目标，使得在终端时刻目标位于视场和距离限制范围内。为此，我们提出了一种最小能耗导引律，该导引律与车辆和炮塔的转弯速率能力相协调。该导引律通过绕碰撞三角形线性化得到，并具有解析解。仿真结果展示了炮塔与车辆之间的协同作用。