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Guidance for Precision Three-Dimensional Maneuvers Through Orifices Using Safe-Passage Cones

Chakravarthy, Animesh and Ghose, Debasish (2016) Guidance for Precision Three-Dimensional Maneuvers Through Orifices Using Safe-Passage Cones. In: JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 39 (6). pp. 1325-1341.

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Official URL: http://dx.doi.org/10.2514/1.G001546

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.

Item Type: Journal Article
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Additional Information: Copy right for this article belongs to the AMER INST AERONAUTICS ASTRONAUTICS, 1801 ALEXANDER BELL DRIVE, STE 500, RESTON, VA 22091-4344 USA
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 25 Aug 2016 10:08
Last Modified: 25 Aug 2016 10:08
URI: http://eprints.iisc.ernet.in/id/eprint/54332

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