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.

This paper proposes Bézier curve based guidance for autonomous landing of quadrotor. The trajectory is generated using a fourth-order Bézier curve which satisfies curvature and heading constraints of the landing guidance problem. Numerical simulations validate the proposed tracking guidance law.

The problem of continuous curvature path planning for passages is considered. This problem arises when an autonomous vehicle traverses between prescribed boundaries such as corridors, tunnels, channels, etc. Passage boundaries with curvature and heading discontinuities pose challenges for generating smooth paths passing through them. Continuous curvature half-S shaped paths derived from the Four Parameter Logistic Curve family are proposed as a prospective path planning solution. Analytic conditions are derived for generating continuous curvature paths confined within the passage boundaries. Zero end curvature highlights the scalability of the proposed solution and its compatibility with other path planners in terms of larger path planning domains. Various scenarios with curvature and heading discontinuities are considered presenting viability of the proposed solution.