Quadrotor Guidance for Traversal through Moving Gaps using Bearing-Only Information

Midhun, EK and Ratnoo, A (2022) Quadrotor Guidance for Traversal through Moving Gaps using Bearing-Only Information. In: AIAA Science and Technology Forum and Exposition, 3-7 Jan 2022, San Diego.

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Abstract

This paper introduces a bearing-only measurement-based guidance method for quadrotor traversal through gaps between moving obstacles in a two-dimensional space. The proposed guidance method uses acceleration commands to generate a safe traversal trajectory. Using only the relative bearing information of the moving gap, vehicle acceleration commands are proposed nullifying the longitudinal and lateral position errors with respect to the center of the gap. Numerical simulation results considering different test case scenarios show the effectiveness of the proposed traversal guidance method. © 2022, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

Item Type:	Conference Paper
Publication:	AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2022
Publisher:	American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information:	The copyright for this article belongs to American Institute of Aeronautics and Astronautics Inc, AIAA
Keywords:	Bearing only measurement; Bearing-only; Bearings only; Lateral positions; Measurement-based; Moving obstacles; Position errors; Quad rotors; Two dimensional spaces; Vehicle acceleration, Numerical methods
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	07 Feb 2022 12:02
Last Modified:	07 Feb 2022 12:02
URI:	http://eprints.iisc.ac.in/id/eprint/71175

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