Guidance and Control
Guidance and Control
Embedded Files
Bearing Information-Based Quadrotor Gap Traversal Guidance
Bearing Information-Based Quadrotor Gap Traversal Guidance
This work proposes a guidance method for quadrotor traversal through a gap opening between obstacles. Considering the six-degree-of-freedom model of the quadrotor in planar flight, the main contribution of this work is a novel guidance method governing the quadrotor heading direction using bearing information of the gap opening. The proposed method uses an elliptic shaping function for the desired vehicle heading, facilitating a lateral traversal through the gap. Phase portrait analysis of the resulting engagement kinematics establishes a guaranteed safe traversal of the quadrotor vehicle through the opening, considering all possible initial conditions around the gap. Realistic simulation results demonstrate the effectiveness of the proposed guidance logic.
E. K. Midhun, and A. Ratnoo “Local Information-Based Guidance for Lane Transition in Air Corridors,” AIAA Journal of Guidance, Control, and Dynamics, vol. 47, no. 3, 2024, pp. 564-572.
(Link to the paper)
Vector Field-Based Path Following Guidance
Vector Field-Based Path Following Guidance
The main contribution of this work is a novel arcsine vector field for UAV path following guidance. The proposed direct vector field method uses an arcsine function to determine the commanded course angle based on the UAV’s position error relative to a straight-line or circular path. The study also includes a curvature analysis, resulting in a closed-form expression for the maximum curvature for the straight-line path-following case. By comparing the proposed method with a popular existing vector field guidance method, it was found that the maximum curvature and control effort were significantly reduced. Furthermore, the research highlights the usefulness of the proposed guidance method by extending it to variable curvature paths.
A. Shivam, and A. Ratnoo “Arcsine Vector Field for Path Following Guidance,” AIAA Journal of Guidance, Control, and Dynamics, vol. 46, no.12, 2023, pp. 2409-2420.
(Link to the paper)
Polynomial Guidance Laws For Autonomous Air to Air Rendezvous of Aircraft
Polynomial Guidance Laws For Autonomous Air to Air Rendezvous of Aircraft
This work proposes a novel rendezvous guidance method that considers two influence zones surrounding the tanker, along with a polynomial guidance logic that governs the relative line-of-sight angle between the aircraft. Additionally, the receiver speed is proposed as a polynomial function of relative range and the tanker’s speed. The coefficients of both these quadratic polynomials are determined using the constraints imposed by the influence zones and the terminal rendezvous. The analysis carried out in this work establishes, in closed-form, the solution for the commanded heading angle of the receiver, and the approximate time of rendezvous. Notably, the proposed method inherently ensures zero terminal lateral acceleration for the receiver in the case of a non-maneuvering tanker. The framework can easily adapt in the case of a maneuvering tanker as the coefficients of the proposed polynomials adjust to ensure rendezvous.
Malhotra, Mohit K., and Ashwini Ratnoo. "Polynomial Guidance Laws For Autonomous Air to Air Rendezvous of Aircraft." 2022 AIAA Science and Technology Forum and Exposition, Jan 3-7, 2022, San Diego, CA and Online.
(Link to the paper)
Intercepting Intruder on a Circular Boundary
Intercepting Intruder on a Circular Boundary
This work addresses the problem of intercepting a rogue drone (target) attempting to penetrate a circular boundary using a patrol drone (interceptor) that is restricted to the boundary. The developed guidance laws enable the interception of rogue drones with superior speed capabilities compared to patrol drones. Further, these laws are capable of making the patrol drone intercept the rogue drone on the boundary with a specified velocity.
The significant contributions of this work include:
a) Derivation of the interception existence condition: As the rogue drone is considered to have higher-speed capability than the patrol drone, we derive the analytic expressions for the minimum initial distance between the rogue drone and patrol route that demarcate the guaranteed spatial interception regions around the circular boundary.
b) Development of guidance laws: Based on the rogue drone’s instantaneous position and velocity closed-form geometric guidance laws are developed that command the patrol drone by predicting the point at which the rogue drone penetrates the circular boundary. The extensions to these guidance laws are developed such that the patrol drone intercepts the rogue drone with control over the final velocity.
c) Validation of the guidance laws: The developed guidance laws are validated through realistic simulations using high-fidelity six-degree-of-freedom quadrotor models for rogue and patrol drones. Simulations show that the proposed patrol drone guidance strategies are capable of intercepting highly maneuvering rogue drones despite the model uncertainties and the lag caused by the dynamics of the drones.
Kedarisetty Siddhardha and Ashwini Ratnoo. "Intercepting Intruder on a Circular Boundary." Journal of Guidance, Control, and Dynamics 46, no. 1 (2023): 186-197.
(Link to the paper)
Page updated
Google Sites
Report abuse