Linear quadratic optimal guidance with obstacle avoidance

摘要

The paper applies linear quadratic optimal control to the problem ofrnintercepting a maneuvering target while avoiding a static obstacle by arnspeciu001ced avoidance distance. The guidance law is expressed as the clas-rnsical (augmented) proportional navigation type guidance, with optimalrneu001bort performance, with an additional correction term that achieves ob-rnstacle avoidance. The minimum avoidance distance is a parameter of thernguidance algorithm. The performance of the guidance algorithm is illus-rntrated using simulation results, both on the ideal, linear intercept model,rnthat is used for guidance algorithm derivation, as on the more realisticrnnonlinear kinematics intercept model.