Linear quadratic optimal guidance with obstacle avoidance

The paper applies linear quadratic optimal control to the problem of intercepting a maneuvering target while avoiding a static obstacle by a specified avoidance distance. The guidance law is expressed as the classical (augmented) proportional navigation type guidance, with optimal effort performance, with an additional correction term that achieves obstacle avoidance. The minimum avoidance distance is a parameter of the guidance algorithm. The performance of the guidance algorithm is illustrated using simulation results, both on the ideal, linear intercept model, that is used for guidance algorithm derivation, as on the more realistic nonlinear kinematics intercept model.