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Reactive Obstacle Avoidance using Aiming Point Guidance

C. Chawla, R. Padhi


Unmanned Aerial Vehicles employed for low altitude jobs are more liable to collide with static structures on their way to the goal point. In this paper, aiming point guidance algorithm is designed in the three dimensional geometry where obstacles are detected based on the collision cone approach. Obstacle avoidance is achieved by aiming the vehicle tangent to the threat ball surrounding the obstacles. The guidance commands are generated geometrically which are realized by both kinematic and point mass model. The point mass model of realistic UAV is used for control generation. The controls are generated by enforcing proportional angular error correction on guidance dynamics. All the controls are validated with first order autopilots.
Simulations with different scenarios are demonstrated using the kinematic model and the point mass model.

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