Pure pursuit navigation on Riemannian manifolds

Here, the Pure Pursuit navigation on Riemannian manifolds is studied and the time optimal trajectories of this process are found. It has been shown that these trajectories are geodesics of a non-Randers type Finsler metric, known in the literature as Matsumoto metric. A geometrical approach to kinematics in control theory is illustrated and the inverse problem is formulated.