Linear Quadratic Optimal Control-Based Missile Guidance Law With Obstacle Avoidance

Two missile guidance algorithms are proposed for the intercept and for the rendezvous of a maneuvering target, while avoiding a static obstacle by a specified avoidance distance. The guidance algorithms are derived as solutions of a linear quadratic optimal control problem and they are expressed as formulas reminiscent of the classical (augmented) proportional navigation type guidance laws. These formulas include correction terms that are responsible for obstacle avoidance and are parameterized by the minimum avoidance distance. Simulation results are used to demonstrate the performance of the two algorithms.