Author:
He Mo,Wang Xiaogang,Cui Naigang
Abstract
Purpose
The purpose of this paper is to present a high accuracy path following method for low-cost fixed-wing UAVs.
Design/methodology/approach
The original vector field (VF) algorithm is condensed. A spatial integration mechanism is added to the existing VF and nonlinear guidance law, aiming to decrease steady-state cross-track-error and cope with long-term disturbance.
Findings
Numerical simulations show the proposed method could diminish steady-state cross-track-error effectively. Test flights show the proposed method is applicable on low-cost fixed-wing UAVs.
Practical implications
The path following accuracy shown in simulations and test flights indicates the proposed method could be deployed in scenarios including inflight rendezvous, formation, trafficway take-off and landing.
Originality/value
This paper provides an improved high-accuracy path following method for low-cost fixed-wing UAVs.
Cited by
3 articles.
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1. Design and Simulation of Flight Control System for Fixed-Wing Drone Circling a Specific Point;2023 IEEE 5th Eurasia Conference on IOT, Communication and Engineering (ECICE);2023-10-27
2. Smart carrot chasing guidance law for path following of unmanned surface vehicles;Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment;2023-10-10
3. Path Following Control of Autonomous Tractor Using Non-linear Guidance Law;Proceedings of 19th Latin American Control Congress (LACC 2022);2023