Nonlinear Geometric and Differential Geometric Guidance of UAVs with Vision Sensing for Reactive Obstacle Avoidance

Abstract

This paper describes the implementation of the guidance strategies Nonlinear Geometric Guidance (NGG) and Differential Geometric Guidance (DGG) while estimating the position of the obstacles with the noisy measurements from a 2D passive vision sensor with Extended Kalman Filter (EKF). The reactive obstacle avoidance algorithm has been validated from a number of simulation studies in three-dimensional scenario for UAV applications.

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Document Details

Document Type
Technical Report
Publication Date
Sep 29, 2010
Accession Number
ADA529799

Entities

People

  • Ankush Gupta
  • Radhakant Padhi

Organizations

  • Indian Institute of Science, Bengaluru

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Materials and Manufacturing Processes
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Aircrafts
  • Algorithms
  • Closed Loop Systems
  • Collision Avoidance
  • Collision Avoidance Systems
  • Geometry
  • Guidance
  • Kalman Filters
  • Literature Surveys
  • Model Predictive Control
  • Navigation
  • Nonlinear Dynamics
  • Nonlinear Systems
  • Simulations
  • Three Dimensional
  • Two Dimensional
  • Unmanned Aerial Vehicles

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Strategic Security Studies