• funzione di visibilità
• giochi differenziali
• guida ambiente ostacoli

The thesis proposes a visibility augmented proportional navigation guidance law, for maintaining visual contact with a target during the engagement in a structured environment. The well-known proportional navigation guidance law is augmented with a term based on a measure of the target visibility. The guidance law is developed using a modified pursuit-evasion differential game, that includes the visibility as a term for both pursuer and evader.