  This work aims to design an optimization-based controller for a discrete-time
Dubins vehicle to approach a target with unknown position as fast as possible
by only using bearing measurements. To this end, we propose a bi-objective
optimization problem, which jointly considers the performance of estimating the
unknown target position and controlling the mobile vehicle to a known position,
and then adopt a weighted sum method with normalization to solve it. The
controller is given based on the solution of the optimization problem in ties
with a least-square estimate of the target position. Moreover, the controller
does not need the vehicle's global position information. Finally, simulation
results are included to validate the effectiveness of the proposed controller.
