Distributed Cooperative Guidance Law for Multiple AUVs With Simultaneous Arrival in Three-Dimensional Battlefield*

In this paper, the distributed cooperative guidance law in three-dimensional battlefield, is researched for multiple autonomous underwater vehicles (AUVs) to attack a stationary target with simultaneous arrival. To achieve cooperation, we modify the traditional proportional navigation guidance based on time-to-go of AUVs. To extend methods in two-dimensional plane, we provide three conditions that should be satisfied for the unit normal vector of velocities for AUVs. Then, a solution is given and proved to meet the three conditions one by one. To demonstrate the performance of proposed guidance method, numerical simulation results are provided for three AUVs in three-dimensional battlefield.