  This paper presents joint motion planning of a vehicle with an attached
rotating turret. The turret has a limited range as well as the field of view.
The objective is capture a maneuvering target such that at the terminal time it
is withing the field-of-view and range limits. Catering to it, we present a
minimum effort guidance law that commensurate for the turn rate abilities of
the vehicle and the turret. The guidance law is obtained using linearization
about the collision triangle and admits an analytical solution. Simulation
results are presented to exemplify the cooperation between the turret and the
vehicle.
