The increasing importance of regional conflicts in military planning has placed new demands on guided weapons. It is often as important to avoid hitting obstacles near the target as it is to hit the target itself. Modern navigation systems can allow a missile to avoid known obstacles using a pre-planned trajectory, but the missile must still be able to hit the target.; Although the obstacle positions can be passed to the missile before launch, the location of the target is known only through seeker data. It is therefore in doubt and may be continually changing. Thus, the trajectory planner must be able to reach a solution quickly while accounting for the changing relative positions of the target and the obstacles. This study examines the artificial potential field concept as a method for developing such a trajectory, and suggests techniques that yield improvements in trajectory controllability without compromising computational efficiency.
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