Patent ID: 7729820

Claim:
A method of maneuvering a mobile platform for clearing and engaging a plurality of targets that are in the platform's obstructed zone, said method comprising: (a) identifying a first target among the plurality of targets with a minimum time for the platform to clear, wherein a maneuvering direction and a maneuvering displacement required for clearing the first target are determined; (b) maneuvering the platform by turning the platform in said maneuvering direction by said maneuvering displacement, whereby the first target is cleared from the platform's obstructed zone; (c) engaging the first target whereby one fewer targets remain from the plurality of targets; (d) identifying a next target among the remaining targets with a minimum time for the platform to clear, wherein a maneuvering direction and a maneuvering displacement required for clearing the next target are determined; (e) maneuvering the platform by turning the platform in said maneuvering direction by said maneuvering displacement, whereby the next target is cleared from the platform's obstructed zone; (f) engaging the next target whereby one fewer targets remain from the remaining targets; and (g) repeating the steps (d)–(f) until all of the plurality of targets are cleared and engaged, wherein the platform's turning rate during the maneuvers is constant.