Mobile Intelligent Autonomous Systems

20	Partially Integrated Guidance and Control of Unmanned Aerial Vehicles for Reactive Obstacle Avoidance Radhakant Padhi and Charu Chawla

CONTENTS

20.1    Introduction

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 (t_go) 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 ...