Cooperative Nonlinear Guidance Strategies for Guaranteed Pursuit-Evasion

TL;DR

This paper introduces a geometry-based, computationally efficient cooperative guidance strategy for pursuit-evasion involving three agents, guaranteeing interception without prior knowledge of the pursuer's tactics and ensuring convergence of error variables.

Contribution

A novel geometry-based cooperative guidance law that guarantees interception and convergence without requiring knowledge of the pursuer's strategy, scalable to multiple agents.

Findings

Guarantees interception in diverse scenarios

Error variables converge to zero at a preset time

Strategy is computationally efficient and scalable

Abstract

This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender before it reaches the vicinity of the evader. Unlike heuristic methods, optimal control, differential game formulation, and recently proposed time-constrained guidance techniques, a geometry-based solution is proposed to safeguard the evader from the pursuer's incoming threat. The proposed strategy is computationally efficient and expected to be scalable as the number of agents increases. Another notable feature of the proposed strategy is that the evader-defender team does not require knowledge of the pursuer's strategy, yet the pursuer's interception is guaranteed for arbitrary initial engagement geometries. It is further shown that the relevant error variables for the evader-defender team (or individual) converge to zero at a prespecified finite time that can be exactly prescribed prior to the three-body engagement. Finally, the effectiveness of the proposed cooperative pursuit-evasion strategy is demonstrated through simulations across diverse engagement scenarios.