Reactive Collision Avoidance Using Nonlinear Geometric and Differential Geometric Guidance

摘要

Using the philosophy of "collision cone" and "DI," two novel guidance strategies, named as NGG and DGG, are proposed in this Note for reactive collision avoidance of UAVs. Appropriate correlation among them has also been derived. For additional safety, a sphere-tracking algorithm is also proposed in this Note which guides the vehicle along the surface of an obstacle's safety sphere when a brief violation occurs after reaching the aiming point on its surface.