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):

Report Date:

2010-09-29

Pagination or Media Count:

81.0

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.

Subject Categories:

  • Pilotless Aircraft
  • Flight Control and Instrumentation

Distribution Statement:

APPROVED FOR PUBLIC RELEASE