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.
Safe Traversal Guidance for Quadrotors using Gap Bearing Information
2021-06-15
1323072 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Gap Traversal Guidance Using Bearing Information
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