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Virtual Target based Obstacle Avoiding

Challa, Vinay and Ratnoo, Ashwini (2018) Virtual Target based Obstacle Avoiding. In: 5th IFAC Conference on Advances in Control and Optimization of Dynamical Systems (ACODS), FEB 18-22, 2018, Hyderabad, INDIA, pp. 214-218.

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Official URL: https://dx.doi.org/10.1016/j.ifacol.2018.05.045

Abstract

The problem of Unmanned Aerial Vehicle(UAV) obstacle avoidance is considered. The UAV follows a virtual target of varying velocity with pure pursuit guidance such that the separation between them remains constant. The analysis of the guidance law is carried out and closed form expressions for virtual target's deviation angle is obtained. The analytic results are interpreted geometrically. Simulation studies demonstrate the effectiveness of the guidance law for different obstacle sizes. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Item Type: Conference Proceedings
Additional Information: Copyright of this article belong to ELSEVIER SCIENCE BV, PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Depositing User: Id for Latest eprints
Date Deposited: 13 Aug 2018 15:31
Last Modified: 12 Oct 2018 14:13
URI: http://eprints.iisc.ac.in/id/eprint/60420

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