Predictive Guidance for Pursuit-Evasion Engagements Involving Decoys

A guidance law is developed for situations where the pursuer has a bounded control effort and its command is conditioned on a multimodal probability density function of the target state. The novel law adopts a predictive control approach with two horizons: a fixed cost horizon, and a receding control horizon. The law is proved to be equivalent to some conventional predictive control approaches when the density function is unimodal. In an example scenario where the presence of a decoy generates a multimodal density, the novel law demonstrates a higher probability of interception than comparable conventional laws.