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

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Jul 07, 2009
Accession Number
ADA502271

Entities

People

  • Anusha Mujumdar
  • Radhakant Padhi

Organizations

  • Kendriya Vidyalaya, IISc Bangalore

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Aircrafts
  • Algorithms
  • Altitude
  • Autonomous Systems
  • Collision Avoidance
  • Control Systems
  • Guidance
  • Kalman Filters
  • Model Predictive Control
  • Motion Planning
  • Navigation
  • Proportional Navigation
  • Robot Navigation
  • Robots
  • Three Dimensional
  • Unmanned Aerial Vehicles
  • Unmanned Vehicles

Readers

  • Aviation Safety and Air Traffic Management
  • Control Systems Engineering.
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • Autonomy