An improved command to optimal interception point guidance law for real-time applications

In this paper, two alternate ways of implementing the recently proposed Command to Optimal Interception Point (COIP) guidance law, formulated based on the target guarding dynamic game problem, are proposed. The alternate implementations have significantly reduced computational times and are therefore more suited for real-time applications like robotics. Firstly, the earlier proposed implementation of the COIP guidance law is introduced and factors which affect its computation time are analyzed. Based on them, an alternate expression for the guidance law is derived, and two ways of implementing the derived alternate expression are discussed. Finally, the performance of these various implementations are compared. Averaged over 100 computational experiments, the two alternate implementations of the COIP guidance law were found to be almost 2 times and 7 times faster than the original implementation.