Gap Traversal Guidance Using Bearing Information

No AccessEngineering NotesGap Traversal Guidance Using Bearing InformationE. K. Midhun and Ashwini RatnooE. K. MidhunIndian Institute of Science, Bengaluru 560 012, India*Research Scholar, Autonomous Vehicles Laboratory, Department of Aerospace Engineering; .Search for more papers by this author and Ashwini Ratnoo https://orcid.org/0000-0001-5311-3066Indian Institute of Science, Bengaluru 560 012, India†Associate Professor, Department of Aerospace Engineering; . Associate Fellow AIAA (Corresponding Author).Search for more papers by this authorPublished Online:26 Sep 2022https://doi.org/10.2514/1.G006898SectionsRead Now ToolsAdd to favoritesDownload citationTrack citations ShareShare onFacebookTwitterLinked InRedditEmail About References [1] Bouabdallah S., Becker M. and Siegwart R., “Autonomous Miniature Flying Robots: Coming Soon!—Research, Development, and Results,” IEEE Robotics Automation Magazine, Vol. 14, No. 3, 2007, pp. 88–98. https://doi.org/10.1109/MRA.2007.901323 CrossrefGoogle Scholar[2] Spedicato S. and Notarstefano G., “Minimum-Time Trajectory Generation for Quadrotors in Constrained Environments,” IEEE Transactions on Control Systems Technology, Vol. 26, No. 4, 2018, pp. 1335–1344. https://doi.org/10.1109/TCST.2017.2709268 CrossrefGoogle Scholar[3] Zingg S., Scaramuzza D., Weiss S. and Siegwart R., “MAV Navigation Through Indoor Corridors Using Optical Flow,” 2010 IEEE International Conference on Robotics and Automation, Inst. of Electrical and Electronics Engineers, New York, 2010, pp. 3361–3368. https://doi.org/10.1109/ROBOT.2010.5509777 Google Scholar[4] Mellinger D., Michael N. and Kumar V., “Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors,” International Journal of Robotics Research, Vol. 31, No. 5, 2012, pp. 664–674. https://doi.org/10.1177/0278364911434236 CrossrefGoogle Scholar[5] Mellinger D. and Kumar V., “Minimum Snap Trajectory Generation and Control for Quadrotors,” 2011 IEEE International Conference on Robotics and Automation, Inst. of Electrical and Electronics Engineers, New York, 2011, pp. 2520–2525. https://doi.org/10.1109/ICRA.2011.5980409 Google Scholar[6] Upadhyay S., Richards A. and Richardson T., “Generation of Window-Traversing Flyable Trajectories Using Logistic Curve*,” 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Inst. of Electrical and Electronics Engineers, New York, 2020, pp. 59–65. https://doi.org/10.1109/ICUAS48674.2020.9214060 Google Scholar[7] Loianno G., Brunner C., McGrath G. and Kumar V., “Estimation, Control, and Planning for Aggressive Flight with a Small Quadrotor with a Single Camera and IMU,” IEEE Robotics and Automation Letters, Vol. 2, No. 2, 2017, pp. 404–411. https://doi.org/10.1109/LRA.2016.2633290 CrossrefGoogle Scholar[8] Falanga D., Mueggler E., Faessler M. and Scaramuzza D., “Aggressive Quadrotor Flight Through Narrow Gaps with Onboard Sensing and Computing Using Active Vision,” 2017 IEEE International Conference on Robotics and Automation (ICRA), Inst. of Electrical and Electronics Engineers, New York, 2017, pp. 5774–5781. https://doi.org/10.1109/ICRA.2017.7989679 Google Scholar[9] Guo D. and Leang K. 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Electrical and Computer Engineering, Brigham Young Univ., Provo, UT, Feb. 2008. https://doi.org/http://hdl.lib.byu.edu/1877/624 Google Scholar Previous article Next article FiguresReferencesRelatedDetails What's Popular Volume 45, Number 12December 2022 CrossmarkInformationCopyright © 2022 by E. K. Midhun and Ashwini Ratnoo. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission. All requests for copying and permission to reprint should be submitted to CCC at www.copyright.com; employ the eISSN 1533-3884 to initiate your request. See also AIAA Rights and Permissions www.aiaa.org/randp. AcknowledgmentsThe authors acknowledge partial funding support from Robert Bosch Centre for Cyber-Physical Systems, Indian Institute of Science, Bangalore, India, under the project RBCO-20-0001-Drone Skyways. The authors are grateful to Vinay Reddy Challa for his comments.PDF Received15 April 2022Accepted13 August 2022Published online26 September 2022