Virtual Target based Obstacle Avoiding

The problem of Unmanned Aerial Vehicle(UAV) obstacle avoidance is considered. The UAV follows a virtual target of varying velocity with pure pursuit guidance such that the separation between them remains constant. The analysis of the guidance law is carried out and closed form expressions for virtual target's deviation angle is obtained. The analytic results are interpreted geometrically. Simulation studies demonstrate the effectiveness of the guidance law for different obstacle sizes. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved