Intercept angle guidance in an obstacle-rich environment

Researchers conduct a study to address the problem of minimum control effort intercept angle guidance in a complex environment with obstacles. Researchers use the rapidly exploring random tree (RRT) approach that samples random vertices in the configuration space and connects them in a treelike graph. Researchers have proved the probabilistic completeness of RRT. For creating a minimum control effort path between the initial and goal states, they use the RRT variation, ensuring asymptotical optimality, and propose using a linearization based optimal guidance law with a terminal angle constraint to create paths between sampled points.