This paper addresses the adaptive spatiotemporal cooperative guidance problem for high‐velocity vehicles independent of standard trajectories by proposing a strategy that combines the gliding and diving‐down phases under an optimal topology. For the impact time and angle control guidance (ITACG) of individual vehicles, lateral maneuvering is introduced to control the arrival time, complementing an optimal guidance law that enforces terminal position and angle constraints. The maneuvering amplitude in the gliding phase and the maneuvering duration in the diving‐down phase are determined online via a prediction–correction approach. Regarding cooperative guidance, a two‐layer structure is constructed, consisting of individual guidance at the bottom layer and cooperative guidance at the upper layer. In the upper layer, the coordinated variable is calculated using a consensus method, and the network topology is optimized to minimize communication cost. At the methodological level, the simulation results show that the proposed guidance achieves a terminal position error of less than 1 m, an angle error of less than 0.01°, and a time error of less than 1 s.
Zhu et al. (Thu,) studied this question.