Obstacle Avoidance using Proportional Navigation Guidance + Quad-rotor path planning
Obstacle Avoidance using Proportional Navigation Guidance + Quad-rotor path planning
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July 2018 - June 2019
July 2018 - June 2019
This project is two fold: (i) analyzing the spatial characteristics of trajectories generated using Proportional Navigation (PN) guidance for obstacle avoidance, and (ii) implementing efficient path planning methods for quad-rotors using a motion capture system.
This project is two fold: (i) analyzing the spatial characteristics of trajectories generated using Proportional Navigation (PN) guidance for obstacle avoidance, and (ii) implementing efficient path planning methods for quad-rotors using a motion capture system.
Savvas Sadiq Ali, Farhad Nawaz, Pranav Tekade, and Ashwini Ratnoo. "On obstacle avoidance characteristics of proportional navigation guidance." In AIAA Scitech 2020 Forum, p. 1093. 2020.
Feasible region in the space of navigation constant and initial heading angle
Feasible region in the space of navigation constant and initial heading angle
Two obstacle avoiding scenarios
Two obstacle avoiding scenarios
A task scenario involving two quad-rotors and a ground vehicle
A task scenario involving two quad-rotors and a ground vehicle
Key takeaways and Contributions
- Necessary conditions are derived for avoiding static obstacles using the monotonic regions of line-of-sight (LOS) parameters.
- Implemented extended Kalman filter for state estimation of quad-rotor states using IMU and motion capture system.
- Utilized Pure pursuit and PN guidance for efficient trajectory tracking and PID for low level control.
- Created a high level MATLAB interface for human commands and communication with ROS.
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