Time control based on three-dimensional dynamic path planning

This paper proposes a new time control method based three-dimensional dynamic path planning, which can be applied for an efficient cooperative attack of cruise missiles or a simultaneous approaching mission for UAVs. The proposed method can lead vehicles to maneuver turning according to the signal of time-error. Time error signal is obtained from the real time-to-go and the estimated time-to-go by adopting a simple online time-to-go estimation method. According to the time error, the yaw maneuvering command is generated and three-dimensional dynamic path planning on the basis of the prescribed path is done to control impact time. Numerical simulations demonstrate the performance of the method.