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- W2324888981 abstract "Inspired by the philosophy of aiming point guidance in the missile guidance literature, two new nonlinear guidance laws, named as ‘nonlinear geometric guidance’ and ‘difierential geometric guidance’, are proposed in this paper for reactive obstacle avoidance of UAVs. A collision cone approach is used to predict any possible collision with the obstacle and, if necessary, to compute an alternate aiming direction for the vehicle. The proposed guidance strategies attempt to quickly align the velocity vector of the vehicle along the aiming point within a part of the available time-to-go, which ensures quick reaction and hence safety of the vehicle. Mathematical correlations between the guidance laws have also been established, which shows that the nonlinear difierential geometric guidance and nonlinear geometric guidance are exactly correlated to each other with appropriate gain selections, while the linear aiming point guidance can only be approximately equivalent to the nonlinear difierential geometric guidance. Using an alternate similar approach in place of the collision cone philosophy, these algorithms have also been extended for collision avoidance with moving obstacles in both non-cooperative as well as cooperative environments. The algorithms developed have been validated from a number of simulation studies in both two-dimensional as well as three-dimensional scenarios. Results are also included with an autopilot lag compensation logic to make the guidance laws more realistic." @default.
- W2324888981 created "2016-06-24" @default.
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- W2324888981 date "2010-06-26" @default.
- W2324888981 modified "2023-10-18" @default.
- W2324888981 title "Nonlinear Geometric Guidance and Di®erential Geometric Guidance of UAVs for Reactive Collision Avoidance" @default.
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- W2324888981 doi "https://doi.org/10.2514/6.2010-8315" @default.
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