Optimal guidance strategy for the defense of a non‐manoeuvrable target in 3‐dimensions
Isaac E. Weintraub, Eloy García, Meir Pachter
Abstract
An engagement scenario involving the defence of a non‐manoeuvrable agent, called the Target, is considered. A pursuing agent, engages the non‐manoeuvrable Target while a defending agent, which aims at intercepting the Pursuer to protect the Target, is considered in 3‐dimensions. A zero‐sum differential game is formulated where the objective of the Defender is to capture the Pursuer and maximise the terminal Pursuer‐Target range at final time; while the Pursuer aims at minimising the terminal Pursuer‐Target range at final time. The terminal time is not fixed and is determined by the interception of the Pursuer by the Defender. The saddle point state‐feedback strategies for the Pursuer and the Defender are obtained using a gradient‐based minimisation routine. A comparison of the saddle point strategy against a heuristic approach, Pure Pursuit, is conducted. The comparison demonstrates that poorer performance is achieved by players who deviate from the optimal saddle point strategy; and, as a result, the saddle point strategies outperform the heuristic method.