Local collision avoidance for safe autonomous Unmanned Aerial Vehicles in an urban environment has been investigated. A nonlinear differential geometric guidance law based on 'collision cone approach' and 'dynamic inversion' was developed and successfully simulated. Both linear 'aiming point guidance' (APG) and nonlinear APG algorithms have been developed and validated from 3-D simulation studies. Finally a first-order autopilot was incorporated to provide satisfactory guidance with up to 0.2 second delay.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Nonlinear Geometric and Differential Geometric Guidance of UAVs for Reactive Collision Avoidance


    Beteiligte:
    A. Mujumdar (Autor:in) / R. Padhi (Autor:in)

    Erscheinungsdatum :

    2009


    Format / Umfang :

    69 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch