A Cooperative Guidance Method Based on TRPO Learning Under Terminal Impact Angle Constraints

To address the challenge of engaging highly protected and maneuverable targets, this paper proposes a policy that employs cruise missile cluster to strike mobile targets. This method is based on a fully cooperative game framework, employing targeted optimization of the Trust Region Policy Optimization (TRPO) algorithm to train guidance policies for cluster members adhering to fully cooperative game rules. To enhance the damage effectiveness of cruise missiles, this paper considers the terminal impact angle constraint, transforming the convergence of the terminal impact angle into the convergence of the line-ofsight angle. This ensures that the velocity direction at the terminal guidance phase aligns with the target-munition line, thereby improving the damage effectiveness of the cruise missiles.