Impact time and impact angle control based on CCC path planning

Aiming at the shortage of CLC (circular arc-straight line-circular arc) path planning, CCC (three circular arcs) path planning was adopted to control impact time and impact angle, formulae were derived for calculating path parameters. The missile was assumed to move at a constant speed, and the target was assumed to be stationary. The desired route length was calculated according to the given desired impact time. The path was planned under the constraints of route length, position and angle of the path end. Assuming the radiuses of the three circular arcs were equal, nonlinear algebraic equations with four variables were obtained. An equation with the radius as its variable was gained by eliminating other variables. Solving the equation by using bisection method, the radius was calculated; the angles subtended at the arc were found. Simulation results show the validity of the proposed approach.