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In this paper, a control barrier function-based collision avoidance cooperative guidance law is proposed for two pursuers and two evaders engagement scenarios. Considering that it is not possible to directly measure the relative distance between two pursuers, the relative distance between the pursuer and virtual point is applied to construct a control barrier function. Then the collision avoidance cooperative guidance law is derived to obtain a closed-form solution with proportional navigation (PN) term and collision avoidance term. The simulation results show that the proposed guidance law can ensure the evaders interception and the collision avoidance between pursuers at the same time. This method is easy to be generalized to the cases of multiple pursuers for multiple evaders and has strong engineering application value.

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Control Barrier Function-Based Collision Avoidance Cooperative Guidance Law for Two-Pursuer Two-Evader Environment

  • 会议论文

  • 发表日期：

    2025年

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  • Xinyuan Lv,
  • Xiaolong Liu,
  • Chi Peng,
  • Lina Geng,
  • Jianjun Ma

摘要

In this paper, a control barrier function-based collision avoidance cooperative guidance law is proposed for two pursuers and two evaders engagement scenarios. Considering that it is not possible to directly measure the relative distance between two pursuers, the relative distance between the pursuer and virtual point is applied to construct a control barrier function. Then the collision avoidance cooperative guidance law is derived to obtain a closed-form solution with proportional navigation (PN) term and collision avoidance term. The simulation results show that the proposed guidance law can ensure the evaders interception and the collision avoidance between pursuers at the same time. This method is easy to be generalized to the cases of multiple pursuers for multiple evaders and has strong engineering application value.