Smooth Transitions between Trajectory Tracking and Path Following for Single Vehicles and Formations

Target tracking and path following both have their benefits, and depending on the mission of a single vehicle or a formation, one may be more favorable than the other. We present a method that makes it possible to smoothly change from one method to the other, thereby having the possibility to change smoothly during a mission between target tracking, path following, or path maneuvering which combines the benefits of both. The theoretically obtained results are supported with simulation results.