Bearing Information-Based Trajectory Planning for Window Traversal
E K Midhun, Ashwini Ratnoo · 2023
This paper presents a novel trajectory planning algorithm for 3- Dimensional window traversal using bearing only information of the window extremities. The key idea behind the proposed method is to use of an angular bisector approach to generate guidance commands comprising a bearing angular bisector component and an elliptical shaping angle function. Numerical simulation case studies validate the effectiveness and accuracy of the proposed guidance algorithm.