Autonomously guiding vehicles through orifices
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Chakravarthy, Animesh; Ghose, Debasish, inventors. Wichita State University, assignee. Autonomously guiding vehicles through orifices. United States patent U.S. 10,569,876. 2020, Feb. 25.
This document generally describes a safe-passage 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 can be such that the orifice is only slightly larger than the robot. The orifice can be approximated as an elliptical shape, and analytical nonlinear guidance laws incorporating state-based switching can be derived. Guidance laws 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.
WSU inventors: Animesh Chakravarthy, Debasish Ghose, Dept. of Electrical Engineering and Computer Science, College of Engineering
Application No. 15/925,312 filed Mar. 19, 2018. Patent No: U.S. 10,569,876 granted Feb. 25, 2020