UAV guidance law for obstacle avoidance in unknown environment
WEI Rui-xuan, ZHOU Kai, WANG Shu-lei, QI Xiao-ming, LUO Peng
Systems Engineering and Electronics . 2015, (9): 2096 -9101 .  DOI: 10.3969/j.issn.1001-506X.2015.09.21