path following, UAV, unmanned aircraft, trajectory control
This paper presents a new method for unmanned aerial vehicle path following using vector fields to represent desired ground track headings to direct the vehicle onto the desired path. The key feature of this approach is that ground track heading error and lateral following error approach zero asymptotically even in the presence of constant wind disturbances. Methods for following straight-line and circularorbit paths, as well as combinations of straight lines and arcs, are presented. Experimental results validate the effectiveness of this path following approach for small air vehicles flying in high-wind conditions.
Original Publication Citation
Nelson, D., Barber, B., McLain, T., and Beard, R. Vector Field Path Following for Small Unmanned Aerial Vehicles, Proceedings of the American Control Conference, pp. 5788-5794, June 2006, Minneapolis, Minnesota.
BYU ScholarsArchive Citation
Nelson, Derek R.; Barber, D. Blake; McLain, Timothy W.; and Beard, Randal W., "Vector Field Path Following for Small Unmanned Aerial Vehicles" (2006). All Faculty Publications. 1536.
Ira A. Fulton College of Engineering and Technology
(c) 2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. DOI: 10.1109/ACC.2006.1657648
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