Impact Angle Constrained Guidance with Collision Avoidance from Multiple Moving Obstacles

This paper presents an intercept angle guidance law for planar engagement in an environment having multiple moving obstacles. A linearized engagement dynamics is used for deriving guidance command using the concepts of optimal control. The proposed strategy enables the interceptor to intercept a target at a pre-specified desired impact angle while avoiding multiple moving obstacles, encountered during engagement, with specified minimum distances. Guidance law is first derived for a general case of multiple obstacles, and then special cases of one and two obstacles are discussed. Numerical simulations are presented to validate the claims of proposed guidance strategy for various engagement scenarios, for single as well as two obstacles with constant maneuver capability.