A priority-driven optimal guidance approach to moving target tracking for safe navigation in a narrow space

This paper presents an 'optimally designed' anti-collision trajectory plan suitable for moving target tracking in narrow spaces like corridors, aisles, etc. Narrow spaces constitute of highly constrained reachable states in the context of dynamic motion. Tracking is the default mode, while the safe trajectory is triggered on a priority-basis. The optimal switching point plays a key role in preventing a possible collision due to a 'mis-timed' change of manoeuvre, in case the obstacle shows unanticipated motion. Moreover, it also ensures that tracking is resumed at a point which minimises tracking error under the said deviation from the desired path. A smoothening filter has been proposed to make seamless transitions at the switching points.