Basic Engagement Zone Avoidance Using Pseudospectral Methods

This work considers a Pursuer and Evader scenario wherein the Evader aims to plan a path around an engagement zone of the Pursuer. We investigate the feasibility of using the multiple time interval pseudospectral (PS) approach to obtain the path for the Evader to avoid the basic engagement zones (BEZ) posed by the Pursuer. The objective function is the Evader’s travel time. Nonlinear constraints are imposed to ensure that the Evader not enter the Pursuer’s BEZ at any portion of the Pursuers trajectory. The resulting paths using the PS method to avoid the BEZs are provided for the various speed ratios of Pursuer and Evader.