Intercepting Intruder on a Circular Boundary

Neutralizing intruders such as rogue drones as a protective measure is one of the sought after technologies in recent times. In particular, the use of protective drones to counter rogue drones has attracted much attention due to the feasibility of implementation. Apart from the practical aspects, the engagement scenario between rogue and protective drones poses an interesting research problem. Circular boundaries are considered as restricted regions in base or area defense problems. In a planar scenario, the circular nature of the boundary guarantees a minimum safety distance with respect to a rogue drone approaching the base from an arbitrary direction. This work presents guidance laws that aid a protective drone moving on a closed circular boundary to intercept a rogue drone attempting to penetrate that boundary.