Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly

A ship with a firing turret, mobile air-defense system, surveillance aircraft, and military vehicles with directed sensors are all examples of moving pursuers with rotating platforms installed onboard. The rotating platforms can be a turret, a missile launcher, or a gimballed camera or sensor. Various aspects of such systems have been studied in works such as [1-4]. Recently, such systems have become increasingly fast and autonomous, thereby driving advancements in guidance and control of such vehicles. Classical guidance laws such as pure-pursuit, proportional navigation (PN), and line-of-sight guidance implement an underlying geometrical rule that is guaranteed to lead to interception.