optimal collision avoidance algorithm for unmanned aerial vehicles based on proportional navigation guidance
law is investigated in this paper. Although proportional navigation guidance law is widely used in missile guidance
problems, it can be used in collision avoidance problem by guiding the relative velocity vector to collision
avoidance vector. The optimal navigation coefcient can be obtained if obstacle moves with constant velocity
vector. The convergence of proposed algorithm is also studied. The convergence can be obtained by choosing the
proper navigation coefficient.