Nonlinear Geometric and Differential Geometric Guidance of UAVs for Reactive Collision Avoidance
نویسندگان
چکیده
Local collision avoidance is an important problem that must be solved for safe autonomous flight of Unmanned Aerial Vehicles (UAVs). In order to successfully find a solution to this problem, an elaborate literature survey has been conducted. This survey of literature led to a fairly thorough understanding of the state-of-art techniques in the areas of path planning and collision avoidance of UAVs. Next, taking the help of the recently proposed philosophies of ‘collision cone approach’ and ‘dynamic inversion’, a nonlinear differential geometric guidance law has been developed and successfully tested from simulation studies. Consequently, a recently-developed missile guidance law, named as ‘aiming point guidance (APG)’ has been tested successfully for the same purpose as well. Next, this linear APG law has been modified to propose a nonlinear APG law. Moreover, correlations have been obtained between the gains in the differential geometric based guidance laws and geometric guidance laws that makes them perform in a similar manner. Note that whereas nonlinear APG law can perform ‘exactly same’ as the dynamic inversion based guidance law (provided gains are selected in such a way that they satisfy the correlation among them), the linear APG can at best be close to it (because of the linearization approximation). The proposed guidance laws have been validated from 3-D simulation studies. Finally, they have been further validated by incorporating a first-order autopilot in the loop as well. This study shows that the proposed guidance schemes can give satisfactory results with autopilot delays upto 0.2 Sec. Chapter
منابع مشابه
Nonlinear Geometric and Differential Geometric Guidance of UAVs with Vision Sensing for Reactive Obstacle Avoidance
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