This paper considers bearing-only measurement-based guidance for a quadrotor unmanned aerial vehicle to navigate through gaps between obstacles in a two-dimensional plane. The proposed method uses a biased elliptic shaping function for the commanded heading which facilitates a lateral traversal through the gap. Multiple phase portraits demonstrate guaranteed safe traversal. Numerical simulation results show the effectiveness of the proposed guidance method.


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    Titel :

    Safe Traversal Guidance for Quadrotors using Gap Bearing Information


    Beteiligte:
    E K, Midhun (Autor:in) / Ratnoo, Ashwini (Autor:in)


    Erscheinungsdatum :

    2021-06-15


    Format / Umfang :

    1323072 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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