Safe Traversal Guidance for Quadrotors using Gap Bearing Information

This paper considers bearing-only measurement-based guidance for a quadrotor unmanned aerial vehicle to navigate through gaps between obstacles in a two-dimensional plane. The proposed method uses a biased elliptic shaping function for the commanded heading which facilitates a lateral traversal through the gap. Multiple phase portraits demonstrate guaranteed safe traversal. Numerical simulation results show the effectiveness of the proposed guidance method.