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dc.contributor.authorChakravarthy, Animesh
dc.contributor.authorGhose, Debasish
dc.date.accessioned2016-07-25T14:47:58Z
dc.date.available2016-07-25T14:47:58Z
dc.date.issued2016-06
dc.identifier.citationAnimesh 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. 1325-1341en_US
dc.identifier.issn0731-5090
dc.identifier.otherWOS:000378642400012
dc.identifier.urihttp://dx.doi.org/10.2514/1.G001546
dc.identifier.urihttp://hdl.handle.net/10057/12298
dc.descriptionClick on the DOI link to access the article (may not b free).en_US
dc.description.abstractThis 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.en_US
dc.description.sponsorshipNational Science Foundation. This material is based upon work supported by the National Science Foundation under Grants IIS-1351677 and CNS-1446557.en_US
dc.language.isoen_USen_US
dc.publisherAmerican Institute of Aeronautics and Astronauticsen_US
dc.relation.ispartofseriesJournal of Guidance, Control, and Dynamics;v.39:no.6
dc.subjectTrajectory generationen_US
dc.subjectDynamic environmentsen_US
dc.subjectCollision-avoidanceen_US
dc.subjectQuadrotorsen_US
dc.subjectObstaclesen_US
dc.titleGuidance for precision three-dimensional maneuvers through orifices using safe-passage conesen_US
dc.typeArticleen_US
dc.rights.holderCopyright © 2016 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.en_US


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