Cooperative pursuit strategy based on cascaded optimization of assignment and guidance

This paper proposes a cooperative pursuit strategy against a maneuvering target by introducing a cascaded optimization framework for assignment and guidance. The cooperative guidance algorithm, guaranteeing both encirclement and simultaneous attack constraints, is derived by optimizing the normal impact–direction and tangential impact–time control efforts, respectively. Then, by minimizing the performance index identical to the guidance loop, an assignment approach is proposed to allocate the desired impact direction and time for each pursuer. Since the assignment and guidance strategies share a unified optimization tenet in a cascaded manner, the proposed integrated cooperative method proves more efficient than the existing guidance-only methods. Theoretical analysis and numerical simulations are provided to demonstrate its advantages in synergy efficiency.