2021
Collision-free vector field guidance and MPC for a fixed-wing UAV
Leonardo A. A. Pereira, Arthur H. D. Nunes, Adriano M. C. Rezende, Vinicius M. Gonçalves, Guilherme V. Raffo, Luciano C. A. Pimenta
ICRA 2021poster
The present work focuses on the development of an efficient path controller to guide a fixed-wing UAV (Unmanned Aerial Vehicle) to follow a closed curve and avoid unknown dynamic obstacles. Our strategy is composed of two layers: a top level layer responsible for guidance and a lower level layer res…