NDLI: Optimal guidance strategy for the defense of a non-manoeuvrable target in 3-dimensions

Content Provider	IET Digital Library
Author	Weintraub, Isaac Garcia, Eloy Pachter, Meir
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.
Starting Page	1531
Ending Page	1538
Page Count	8
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 11, Jul (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/11
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2019.0541
Journal	IET Control Theory & Applications
Publisher Date	2020-04-07
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Aerospace Control Aircraft Control Defending Agent Differential Games Engagement Scenario Game Theory Gradient-based Minimisation Routine Minimisation Mobile Robots Multi-robot System Nonmanoeuvrable Agent Nonmanoeuvrable Target Optimal Control Optimal Guidance Strategy Optimal Saddle Point Strategy Optimisation Technique Pursuing Agent Saddle Point State-feedback Strategy State Feedback Terminal Pursuer-Target Range Terminal Time Zero-sum Differential Game
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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