Accession Number : ADA529799


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


Descriptive Note : Technical rept.


Corporate Author : INDIAN INST OF SCIENCE BANGALORE DEPT OF AEROSPACE ENGINEERING


Personal Author(s) : Gupta, Ankush ; Padhi, Radhakant


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a529799.pdf


Report Date : 29 Sep 2010


Pagination or Media Count : 81


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.


Descriptors :   *NONLINEAR SYSTEMS , *UNMANNED , *GEOMETRIC FORMS , *VEHICLES , KALMAN FILTERING , THREE DIMENSIONAL , NAVIGATION , GUIDANCE , AVOIDANCE , URBAN AREAS , LOW ALTITUDE , TWO DIMENSIONAL , FLIGHT CONTROL SYSTEMS , DIFFERENTIAL GEOMETRY , ALGORITHMS , INDIA


Subject Categories : Pilotless Aircraft
      Flight Control and Instrumentation


Distribution Statement : APPROVED FOR PUBLIC RELEASE