Nonlinear Geometric and Differential Geometric Guidance of UAVs with Vision Sensing for Reactive Obstacle Avoidance

摘要

This paper describes the implementation of the guidance strategies Nonlinear Geometric Guidance (NGG) and Differential Geometric Guidance (DGG) while estimating the position of the obstacles with the noisy measurements from a 2D passive vision sensor with Extended Kalman Filter (EKF). The reactive obstacle avoidance algorithm has been validated from a number of simulation studies in three-dimensional scenario for UAV applications.