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.
Nonlinear Geometric and Differential Geometric Guidance of UAVs for Reactive Collision Avoidance
2009
69 pages
Report
Keine Angabe
Englisch
Aircraft , Operations Research , Computers, Control & Information Theory , Autonomous navigation , Automatic pilots , Collision avoidance , Drones , Flight control systems , Inversion , Urban areas , Aiming , Guidance , Reactivities , Dynamics , Conical bodies , Algorithms , Aircraft control , Flight control , Uav(Unmanned aerial vehicles)
Nonlinear Geometric and Differential Geometric Guidance of UAVs for Reactive Collision Avoidance
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