Multi-observer three-point tracking law with networked observers

In this paper we suggest a three-point path planning law with multiple observers for wheeled mobile robot navigation to intercept/track a moving goal. Each observer acts like a control station that controls the robot to reach an arbitrary moving goal. The observer's task is to gather information concerning the moving goal, and send the real time command control to the robot. Thus, observers have sensing, communication and processing capabilities. For robotic path planning and navigation towards a moving goal, the control strategy is based on the visibility line guidance law, where the robot lies always in the line that connects a virtual observer and the target. Under this formulation, the visibility angles rates of the robot and the target are equal. Our method is illustrated using various simulation examples.