Nonlinear Geometric and Differential Geometric Guidance of UAVs with Vision Sensing for Reactive Obstacle Avoidance
INDIAN INST OF SCIENCE BANGALORE DEPT OF AEROSPACE ENGINEERING
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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.
- Pilotless Aircraft
- Flight Control and Instrumentation