Safe Homing Guidance Laws for Maneuvering Target Interception in Complex Environment of Multiple Moving Obstacles

In this paper, a class of barrier function based safe homing guidance laws are proposed for maneuvering target interception in complex multiple moving environment. First, the kinematics of the interceptor-target-obstacle system in multiple obstacle scenarios were derived. Subsequently, drawing insights from real-world obstacle detection information, two distinct obstacle avoidance functions are devised: a relative distance-dominated obstacle function and a line-of-sight (LOS)-dominated obstacle function. The resulting obstacle avoidance function generates the corresponding safety constraints on the guidance input, leading to a final guidance law that combines a nominal guidance law with the corresponding deviation term induced by the obstacle function. Leveraging the flexibility of the proposed algorithm, it is extended to scenarios involving multiple dynamic obstacles. Finally, extensive simulations are conducted to facilitate a comparative analysis for the proposed method.