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    Guidance for precision three-dimensional maneuvers through orifices using safe-passage cones

    Date
    2016-06
    Author
    Chakravarthy, Animesh
    Ghose, Debasish
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    Citation
    Animesh Chakravarthy and Debasish Ghose. "Guidance for Precision Three-Dimensional Maneuvers Through Orifices Using Safe-Passage Cones", Journal of Guidance, Control, and Dynamics, Vol. 39, No. 6 (2016), pp. 1325-1341
    Abstract
    This paper proposes a safe-passage cone-based guidance strategy developed in a relative velocity framework to enable a generic aerial robot execute a precision three-dimensional maneuver through a narrow orifice in a wall. The relative sizes of the robot and the orifice are such that the orifice is only slightly larger than the robot. The orifice is approximated as an elliptical shape, and analytical nonlinear guidance laws incorporating state-based switching are derived. It is demonstrated that the guidance laws developed can be used to maneuver the robot through both fixed and moving orifices as well as in scenarios when the orifice is closing with time.
    Description
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    URI
    http://dx.doi.org/10.2514/1.G001546
    http://hdl.handle.net/10057/12298
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