Co-evolutionary optimization of three-dimensional target evasive maneuver against a proportionally guided missile

The three-dimensional target optimal evasion problem against a proportionally guided missile is considered. The optimal evasion problem is formulated as a constrained optimization problem whose payoff is the intercept time and constraint is the capture condition. The target's control variables and the final time are parameterized for an application of direct optimization methods. The co-evolutionary augmented Lagrangian method is implemented to solve the derived constrained parameter optimization problem. A scheduled smoothing technique is introduced to avoid the chattering effect. Numerical simulations for three-dimensional engagement scenarios are conducted, and the no-escape envelopes are obtained.