Time-Critical Unified Rendezvous Guidance for an Unmanned Autonomous Vehicle

Abstract

This paper addresses the time-critical rendezvous problem for a pursuing autonomous unmanned vehicle, e.g., an unmanned aerial vehicle (UAV), guided using the concept of true proportional-navigation guidance, which is a variant of proportional-navigation guidance. In existing vehicle routing and flight time-constrained guidance techniques, specific rendezvous guidance commands are designed based on the specific motion of the target. In contrast to that, we propose a unified guidance command for a UAV that guarantees a time-critical rendezvous with a target that moves arbitrarily. We explore the purview of true proportional-navigation guidance and posit that a guidance law thus designed may be a potential candidate for designing time-critical rendezvous strategies against various target motions, even when the pursuer does not necessarily have a speed advantage over the target. We first derive a closed-form expression for the flight duration until rendezvous, over which we exercise control to make the pursuing vehicle rendezvous with the target at any feasible time prescribed a priori. Next, we ensure that the necessary flight-time-based error variable converges to zero with an optimal convergence pattern with respect to a suitable cost function. We finally validate the efficacy of the proposed unified guidance command via numerical simulations.