Proportional Navigation Based Guidance Laws for UAV Obstacle Avoidance in Complex Urban Environments

2017 ◽  
Author(s):  
Matthew Clark ◽  
Richard J. Prazenica
Keyword(s):  
Obstacle Avoidance ◽  
Urban Environments ◽  
Proportional Navigation ◽  
Guidance Laws

Proportional Navigation and Model Predictive Control of an Unmanned Autonomous Vehicle for Obstacle Avoidance

2018 ◽  
Author(s):  
Ryan P. Shaw ◽  
David M. Bevly
Keyword(s):  
Obstacle Avoidance ◽  
Autonomous Vehicle ◽  
Integrated System ◽  
Reference Trajectory ◽  
Ground Vehicles ◽  
Proportional Navigation ◽  
Predictive Controller ◽  
Proportional Navigation Law ◽  
Vehicle Dynamic Model ◽  
And Control

This paper presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). An obstacle avoidance algorithm was developed using an integrated system involving proportional navigation (PN) and a nonlinear model predictive controller (NMPC). An obstacle avoidance variant of the classical proportional navigation law generates command lateral accelerations to avoid obstacles, while the NMPC is used to track the reference trajectory given by the PN. The NMPC utilizes a lateral vehicle dynamic model. Obstacle avoidance has become a popular area of research for both unmanned aerial vehicles and unmanned ground vehicles. In this application an obstacle avoidance algorithm can take over the control of a vehicle until the obstacle is no longer a threat. The performance of the obstacle avoidance algorithm is evaluated through simulation. Simulation results show a promising approach to conditionally implemented obstacle avoidance.

Proportional Navigation (PN) Based Tracking of Ground Targets by Quadrotor UAVs

2013 ◽  
Author(s):  
Ruoyu Tan ◽  
Manish Kumar
Keyword(s):  
Target Tracking ◽  
Proportional Navigation ◽  
Tracking Method ◽  
Maneuvering Targets ◽  
Time Optimal ◽  
Aerial Vehicle ◽  
Quadrotor Uavs ◽  
The One ◽  
Rotary Wing ◽  
Guidance Laws

This paper addresses the problem of controlling a rotary wing Unmanned Aerial Vehicle (UAV) tracking a target moving on ground. The target tracking problem by UAVs has received much attention recently and several techniques have been developed in literature most of which have been applied to fixed wing aircrafts. The use of quadrotor UAVs, the subject of this paper, for target tracking presents several challenges especially for highly maneuvering targets since the development of time-optimal controller (required if target is maneuvering fast) for quadrotor UAVs is extremely difficult due to highly non-linear dynamics. The primary contribution of this paper is the development of a proportional navigation (PN) based method and its implementation on quad-rotor UAVs to track moving ground target. The PN techniques are known to be time-optimal in nature and have been used in literature for developing guidance systems for missiles. There are several types of guidance laws that come within the broad umbrella of the PN method. The paper compares the performance of these guidance laws for their application on quadrotors and chooses the one that performs the best. Furthermore, to apply this method for target tracking instead of the traditional objective of target interception, a switching strategy has also been designed. The method has been compared with respect to the commonly used Proportional Derivative (PD) method for target tracking. The experiments and numerical simulations performed using maneuvering targets show that the proposed tracking method not only carries out effective tracking but also results into smaller oscillations and errors when compared to the widely used PD tracking method.

scholarly journals Another point of view on proportional navigation

1998 ◽  
Vol 4 (3) ◽  
pp. 201-231
Author(s):  
E. Duflos ◽  
P. Penel ◽  
P. Vanbeeghe ◽  
P. Borne
Keyword(s):  
Inverse Problem ◽  
Direct Problem ◽  
Point Of View ◽  
Proportional Navigation ◽  
Guidance Laws ◽  
The Way

Proportional navigation is one of the most popular and one of the most used of the guidance laws. But the way it is studied is always the same: the acceleration needed to reach a known target is derived or analyzed. This way of studying guidance laws is called “the direct problem” by the authors. On the contrary, the problem considered here is to find, from the knowledge of a part of the trajectory of a maneuvering object, the target of this object. The authors call this way of studying guidance laws “the inverse problem”.

Investigation into Air Interception Guidance Algorithms for Autonomous Aerial Hard Docking of Dissimilar Platforms

2014 ◽  
Vol 629 ◽  
pp. 214-218
Author(s):  
Omar Kassim Ariff ◽  
E. Salami ◽  
M.T. Ahmad ◽  
T.H. Go
Keyword(s):  
Guidance System ◽  
Missile Guidance ◽  
Proportional Navigation ◽  
Terminal Constraints ◽  
Rigid Connection ◽  
The Moment ◽  
Further Development ◽  
Rotary Wing ◽  
Guidance Laws ◽  
Specific Scenario

Autonomous aerial hard docking is the process where an aircraft approaches and forms a rigid connection with another aircraft. After the docking process is complete, it is not necessary for the lift and propulsion system of the docked aircraft to be operating. Docking allows the larger aircraft to carry the small aircraft outside its airframe, thereby extending the range of endurance of the smaller aircraft. In this paper, we investigate specific scenario where docking occurs between a rotary wing aircraft and a fixed wing aircraft. To perform the above procedure, a guidance system on each platform has to ensure interception while satisfying the primary interception condition of velocity vector co-linearity at the moment of intercept of the two trajectories or flight paths. Pursuit guidance and proportional navigation were assessed as candidates for further development for the terminal docking phase. Since the platforms are in quasi-perfect knowledge of each other, the pursuer evader scenario is replaced by the pursuer-pursuer scenario. The novelty of this work lies in the formulation of terminal constraints, as well as the findings obtained. This paper concludes that contrary to the missile guidance scenario, pursuit based guidance laws provide superior baseline laws from which AAHD guidance and navigation laws can be developed.

Nonlinear Control for Missile Terminal Guidance

2000 ◽  
Vol 122 (4) ◽  
pp. 663-668 ◽  
Author(s):  
Der-Cherng Liaw ◽  
Yew-Wen Liang ◽  
Chiz-Chung Cheng
Keyword(s):  
Nonlinear Control ◽  
Design Procedure ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Missile Guidance ◽  
Proportional Navigation ◽  
Structure Control ◽  
Guidance Laws ◽  
Terminal Guidance

Variable Structure Control (VSC) technique is applied to the design of robust homing missile guidance laws. In the design procedure, the target’s maneuver is assumed to be unpredictable and is considered as disturbances. Guidance laws are then proposed to achieve the interception performance for both cases of longitude-axis control being available and unavailable. The proposed guidance laws are continuous which alleviate chattering drawback by classic VSC design. Results are obtained and compared with those by realistic true proportional navigation design to illustrate the benefits of the proposed design. [S0022-0434(00)00604-3]

A generalized design method for three-dimensional guidance laws

2016 ◽  
Vol 231 (1) ◽  
pp. 47-60 ◽  
Author(s):  
Sheng Sun ◽  
Di Zhou ◽  
Jingyang Zhou ◽  
Kok Lay Teo
Keyword(s):  
Lyapunov Function ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Line Of Sight ◽  
Generalized Function ◽  
Proportional Navigation ◽  
Guidance Law ◽  
Target Acceleration ◽  
Guidance Laws ◽  
Proportional Navigation Guidance

The true proportional navigation guidance law, the augmented proportional navigation guidance law, or the adaptive sliding-mode guidance law, is designed based on the planar target-to-missile relative motion dynamics. By a proper construction of a nonlinear Lyapunov function for the line-of-sight angular rates in the three-dimensional guidance dynamics, it is shown that the three guidance laws mentioned above are able to ensure the asymptotic convergence of the angular rates as they are directly applied to the three-dimensional guidance environment. Furthermore, considering the missile autopilot dynamics as a first-order lag, we design three-dimensional nonlinear guidance laws by using the backstepping technique for three cases: (1) the target does not maneuver; (2) the information of target acceleration can be acquired; and (3) the target acceleration is not available but its bound is known a priori. In the first step of the backstepping design of the control law, there is no need to cancel the nonlinear coupling terms in the three-dimensional guidance dynamics in such way that the final expressions of the proposed guidance laws are significantly simplified. Thus, the proposed nonlinear Lyapunov function for the line-of-sight angular rates is a generalized function for designing three-dimensional guidance laws. Simulation results of a missile interception mission show that the proposed guidance laws are highly effective.

Generalized optimal impact-angle-control guidance with terminal acceleration response constraint

2017 ◽  
Vol 231 (14) ◽  
pp. 2515-2536 ◽  
Author(s):  
Hui Wang ◽  
Jiang Wang ◽  
Defu Lin
Keyword(s):  
General Expression ◽  
Impact Angle ◽  
Acceleration Response ◽  
Proportional Navigation ◽  
Guidance Law ◽  
Optimal Guidance ◽  
Terminal Constraints ◽  
Miss Distance ◽  
Guidance Laws ◽  
Impact Angle Constraint

To study the optimal impact-angle-control guidance problem with multiple terminal constraints, a generalized optimal impact-angle-control guidance law with terminal acceleration response constraint (GOIACGL-TARC) is proposed. In the deriving, a time-to-go − nth power weighted object function is adopted to derived the GOIACGL-TARC and a general expression of GOIACGL-TARC is presented. Based on the general expression of GOIACGL-TARC, three guidance laws, GOIACGL-TARC1/TACC0/TACC1 are proposed and the inheritance relationship between GOIACGL-TACC0/TACC1/TARC1 and the conventional optimal guidance law with impact angle constraint is demonstrated. Performance analysis of the proposed guidance laws shows that in the case of GOIACGL-TACC0, the terminal acceleration is not zero at n = 0 and only as n > 0, the terminal acceleration converges to zero; in the case of GOIACGL-TACC1 and GOIACGL-TARC1, GOIACGL-TARC1 can guarantee the acceleration response to reach the exactly zero value but GOIACGL-TACC1 cannot, which can only guarantee the acceleration command to reach the exactly zero value. It is pointed out that compared with the biased proportional navigation guidance law, GOIACGL-TARC1 has an outstanding guidance performance in acceleration response, miss distance, and terminal impact angle error.

Evaluation of Guidance Laws Performance Sing Genetic Algorithm

2014 ◽  
Vol 598 ◽  
pp. 723-730
Author(s):  
Mohamed Zakaria ◽  
Talaat Ibrahim ◽  
Alaa El Din Sayed Hafez ◽  
Hesham Abdin
Keyword(s):  
Genetic Algorithm ◽  
Differential Geometry ◽  
Standard Deviation ◽  
Optimization Process ◽  
Line Of Sight ◽  
Proportional Navigation ◽  
Guidance Law ◽  
Simulation Results ◽  
Miss Distance ◽  
Guidance Laws

Several conditions affect the performance of guidance law like target parameters or delayed line of sight rate. A variable navigation ratio is used to enhance the performance of guidance law. In this paper a Genetic Algorithm is used to formulate different forms of variable gains and measure the miss distance. An optimization process is running to find the minimum miss distance. The average values and standard deviation of miss distance for all genetic algorithm individuals are calculated to measure the performance and robustness of guidance law. Two guidance laws are considered proportional navigation (PN) and differential geometry (DG). The simulation results show that the proportional navigation is superior to differential geometry performance in the presence of delayed line of sight rate.

Template-based autonomous navigation and obstacle avoidance in urban environments

2011 ◽  
Vol 11 (4) ◽  
pp. 49-59 ◽  
Author(s):  
Jefferson R. Souza ◽  
Daniel O. Sales ◽  
Patrick Y. Shinzato ◽  
Fernando S. Osorio ◽  
Denis F. Wolf
Keyword(s):  
Obstacle Avoidance ◽  
Autonomous Navigation ◽  
Urban Environments
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