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20.2 Six-DOF Model of a Prototype UAV
20.3 Aiming Point Selection for Obstacle Avoidance
20.3.1 Collision Cone Construction
20.3.2 Aiming Point Computation
20.3.3 Time-to-Go (tgo) Computation
20.4 Velocity Vector Orientation and Dynamics of Orientation Angles
20.4.1 Current and Desired Orientation of the Velocity Vector
20.4.2 Dynamics of Flight Path and Heading Angles
20.5 Partial IGC Formulation
20.5.1 Roll Angle for Turn Coordination
20.5.2 Generation of Body Rates from the Outer Loop
20.5.3 Generation of Control Surface Deflections ...
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