Bifurcation-Based Quadrotor Guidance for Standoff Inspection
R. R. Khandelwal, Ashwini Ratnoo · 2025
This paper introduces a guidance method for a quadrotor to conduct standoff inspection from specific viewpoints on a circular periphery surrounding a structure. A new bifurcation theory-based guidance method is proposed to achieve the desired radial and angular coordinates corresponding to the intended viewpoint. Stability analysis validates the capability of the quadrotor to reach the desired viewpoint on the standoff inspection circle from an arbitrary initial position. The effectiveness of the proposed guidance method is demonstrated through numerical simulations.