Proportional Navigation Applied to Ground Target Tracking

Application for a multi-rotor simulation sandbox. I coded this up over a couple of evenings on a family vacation one year to test some simulation, controls, and visualization code.

One random bit of this project that I'm weirdly proud of is that I had written some code to analyze curvy paths that I would draw on my iPad and turn that path into the ground vehicle simulation that you see in the image and videos below.

Proportional navigation calculations are used to try to get the UAV to intercept the moving ground vehicle, and simple potential fields are used to have the UAV concurrently avoid the cylinders.