E K, Midhun (Indian Institute of Science), Ratnoo, Ashwini (Indian Institute of Science)

Safe Traversal Guidance for Quadrotors Using Gap Bearing Information

Scheduled for presentation during the Regular Session "Path Planning III" (ThA3), Thursday, June 17, 2021, 10:30−10:50, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This paper considers bearing-only measurement-based guidance for a quadrotor unmanned aerial vehicle to navigate through gaps between obstacles in a two-dimensional plane. The proposed method uses a biased elliptic shaping function for the commanded heading which facilitates a lateral traversal through the gap. Multiple phase portraits demonstrate guaranteed safe traversal. Numerical simulation results show the effectiveness of the proposed guidance method.