MODEL-INDEPENDENT PASSIVE SENSING BASED GUIDANCE

Passive sensing method

STEP 1: MEASURE PSD OFFSETS

Step 1 of passive method

GRADIENT METHOD

  • Objective to Guide Vehicle to its desired pose
    • Sub-Step 1: Determine Rotational Motion
    • Sub-Step 2: Determine Translational Motion
    • Motion Commands: Move Vehicle by Determined Motion Commands
    • Continuing until Vehicle has reached its Desired Pose within Tolerances.

 

SUB-STEP 1:ROTATIONAL MOTION
Gradient step 1

 

SUB-STEP 2: TRANSLATIONAL MOTION

Step 2 of gradient

 Motion Commands

overall motion commands