A Path Planning Model for Intercepting a Moving Target with Finite Obstacle Avoidance

A Path Planning Model for Intercepting a Moving Target with Finite Obstacle Avoidance | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article A Path Planning Model for Intercepting a Moving Target with Finite Obstacle Avoidance Masuda Akter, M. M. Rizvi This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-9023312/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 6 You are reading this latest preprint version Abstract This paper investigates the problem of computing a two-dimensional curvature-constrained shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and the target travelling at constant speeds. We formulate an optimal control problem that integrates two critical objectives: avoiding static obstacles and successfully intercepting the target. The formulation integrates curvature constraints, geometric obstacle-avoidance conditions, and time-consistent interception constraints within a constrained optimal control framework. A geometric framework is developed, along with sufficient conditions for path optimality under the imposed constraints. The problem is initially examined in the presence of a single obstacle and later extended to scenarios involving a finite number of obstacles. Numerical experiments are carried out to evaluate the performance and efficiency of the proposed model using illustrative examples. Finally, we present a realistic case study using actual geographic data, including obstacle placement, target trajectory, and heading angles, to demonstrate the practical applicability and effectiveness of the proposed method in real-world scenarios. AMSsubject classifications: 34K35 49M37, 90C30, 90C39. Dubins path Optimal control problem Path planning Mathematical mod eling Numerical methods Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Reviewers agreed at journal 20 Apr, 2026 Reviewers agreed at journal 19 Apr, 2026 Reviewers invited by journal 19 Apr, 2026 Editor assigned by journal 05 Mar, 2026 Submission checks completed at journal 05 Mar, 2026 First submitted to journal 03 Mar, 2026 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-9023312","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":626413084,"identity":"be88ee3b-c680-402c-8e39-978b28ba1c1b","order_by":0,"name":"Masuda Akter","email":"","orcid":"","institution":"University of Chittagong","correspondingAuthor":false,"prefix":"","firstName":"Masuda","middleName":"","lastName":"Akter","suffix":""},{"id":626413086,"identity":"7896cd11-b18f-4e28-8b85-4bcf0d1ce869","order_by":1,"name":"M. M. 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