Visibility Augmented Proportional Navigation Guidance

The development of a visibility augmentation term for the proportional navigation guidance (PNG) law by means of game-theoretic arguments was formalized. The classical pursuit–evasion game was modified, introducing a measure of the target visibility based on an early definition proposed in the literature, and it was improved. The strategies obtained from the modified game contained both the complete expression of the PNG as well as a visibility augmentation term. The pursuer strategy was then further simplified, considering the players on a collision course. The result was a PNG in its simplest form, with a simplified visibility augmentation term. The obtained solution appeared suitable for the improvement of existing guidance systems, based on PNG. Both the pursuer strategy solution of the game and its approximation were tested and validated by means of numerical simulations and showed good results in scenarios with multiple obstacles.