Guidance laws for planar motion control

This paper gives an overview of guidance laws that can be applied for planar motion control purposes. Considered scenarios include target tracking, where only instantaneous information about the target motion is available, as well as path scenarios, where spatial information is available a priori. For target-tracking purposes, classical guidance laws from the missile literature are reviewed. These laws encompass guidance principles such as line of sight, pure pursuit, and constant bearing. For the path scenarios, enclosure-based and look-ahead-based guidance laws are presented. Considered paths include straight lines (zero curvature), circles (constant curvature), as well as general, regularly parameterized paths (variable curvature). Also, relations between the guidance laws are discussed, as well as interpretations toward saturated control.