M.Sc Thesis

M.Sc StudentYizhaq Meyer
SubjectCooperative Guidance for Simultaneous Impact Time
DepartmentDepartment of Aerospace Engineering
Supervisor Professor Shima Tal
Full Thesis textFull thesis text - English Version


In this work we examine the problem of intercepting a moving target with a pursuer that only moves forwards at constant speed and whose radius of turn is strictly positive. We assume that the target is moving at constant speed and that its future trajectory is known to the pursuer with no prediction error. We analyze both the problem of minimum-time interception, as well as the problem of interception at a predefined time. For the special case of a non-maneuvering target and the case of a pursuer that has a maneuverability and speed advantage over the target, we establish lower and upper bounds on the minimum time to interception, respectively. We examine the relation between shortest paths and minimum-time interception paths, give conditions for the two types of paths to coincide, and show cases where they differ. Then, we propose three algorithms for the elongation of an admissible path and provide conditions that guarantee continuous elongation. Finally, we provide a sufficient condition for simultaneous interception and use the proposed elongation algorithms to coordinate a group of pursuers to simultaneously intercept a moving target. The above analysis is also conducted in scenarios where the target is located near or inside the circles of minimum turn radius that correspond to the pursuer's initial configuration.