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Constraints that are required at the waypoints as well as at the terminal point include position, velocity, and attitude of the spacecraft. In addition to successfully meeting these hard constraints, the G-MPSP guidance also minimizes the fuel consumption, which is a very good advantage. An optimal final time selection procedure is also presented in this paper to facilitate minimization of fuel requirement to the best extent possible. Extensive simulation studies have been carried out with various perturbations to illustrate the effectiveness of the algorithm. Finally, processor-in-loop simulation has been carried out, which demonstrates the feasibility of on-board implementation of the proposed guidance. <\/jats:p>","DOI":"10.1142\/s230138501950002x","type":"journal-article","created":{"date-parts":[[2019,2,14]],"date-time":"2019-02-14T20:32:32Z","timestamp":1550176352000},"page":"83-104","source":"Crossref","is-referenced-by-count":19,"title":["Waypoint Constrained Multi-Phase Optimal Guidance of Spacecraft for Soft Lunar Landing"],"prefix":"10.1142","volume":"07","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6006-4194","authenticated-orcid":false,"given":"Kapil","family":"Sachan","sequence":"first","affiliation":[{"name":"Department of Aerospace Engineering, Indian Institute of Science, Bangalore 560012, India"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Radhakant","family":"Padhi","sequence":"additional","affiliation":[{"name":"Department of Aerospace Engineering, Indian Institute of Science, Bangalore 560012, India"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"219","published-online":{"date-parts":[[2019,6,19]]},"reference":[{"key":"S230138501950002XBIB001","volume":"1","author":"Ertel I. 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