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Military aircraft must often fly in close proximity to terrain. In this article, optimal terrain following is considered as a minimax optimal control problem, which is solved using direct transcription of the continuous optimal control problem. Within a very general framework for solving such problems, we transform the nonsmooth cost function into a constrained nonlinear programming problem. In the formulation, we solve for optimal collision avoidance manoeuvres. To ensure smooth derivatives ofdoi:10.21914/anziamj.v47i0.1071 fatcat:chaxfixarjeqvdgfa52tjgt46q