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Modified vector field and nonlinear guidance law for low-cost UAV path following

Modified vector field and nonlinear guidance law for low-cost UAV path following The purpose of this paper is to present a high accuracy path following method for low-cost fixed-wing UAVs.Design/methodology/approachThe 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.FindingsNumerical 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 implicationsThe 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/valueThis paper provides an improved high-accuracy path following method for low-cost fixed-wing UAVs. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Aircraft Engineering and Aerospace Technology: An International Journal Emerald Publishing

Modified vector field and nonlinear guidance law for low-cost UAV path following

Modified vector field and nonlinear guidance law for low-cost UAV path following


Abstract

The purpose of this paper is to present a high accuracy path following method for low-cost fixed-wing UAVs.Design/methodology/approachThe 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.FindingsNumerical 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 implicationsThe 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/valueThis paper provides an improved high-accuracy path following method for low-cost fixed-wing UAVs.

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Publisher
Emerald Publishing
Copyright
© Mo He, Xiaogang Wang and Naigang Cui.
ISSN
1748-8842
eISSN
1748-8842
DOI
10.1108/aeat-03-2019-0045
Publisher site
See Article on Publisher Site

Abstract

The purpose of this paper is to present a high accuracy path following method for low-cost fixed-wing UAVs.Design/methodology/approachThe 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.FindingsNumerical 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 implicationsThe 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/valueThis paper provides an improved high-accuracy path following method for low-cost fixed-wing UAVs.

Journal

Aircraft Engineering and Aerospace Technology: An International JournalEmerald Publishing

Published: Dec 19, 2022

Keywords: Path following; Flight control; UAV; Vector field; Nonlinear guidance law; Flight test

References