Path Following Using Trajectory Shaping Guidance

Ratnoo, Ashwini and Hayoun, Shmuel Y and Granot, Asaf and Shima, Tal (2015) Path Following Using Trajectory Shaping Guidance. In: JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 38 (1). pp. 106-116.

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Abstract

Unmanned vehicle path following by pursuing a virtual target moving along the path is considered. Limitations for pure pursuit guidance are analyzed while following the virtual target on curved paths. Trajectory shaping guidance is proposed as an alternate guidance scheme for a general curvature path. It is proven that under certain tenable assumptions trajectory shaping guidance yields an identical path as that of the virtual target. By linear analysis it is shown that the convergence to the path for trajectory shaping guidance is twice as fast as pure pursuit. Simulations highlight significant improvement in position errors by using trajectory shaping guidance. Comparative simulation studies comply with analytic findings and present better performance as compared with pure pursuit and a nonlinear guidance methodology from the literature. Experimental validation supports the analytic and simulations studies as the guidance laws are implemented on a radio-controlled car in a laboratory environment.

Item Type:	Journal Article
Publication:	JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
Publisher:	AMER INST AERONAUTICS ASTRONAUTICS
Additional Information:	Copy right for this article belongs to the AMER INST AERONAUTICS ASTRONAUTICS, 1801 ALEXANDER BELL DRIVE, STE 500, RESTON, VA 22091-4344 USA
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	01 Apr 2015 12:11
Last Modified:	01 Apr 2015 12:11
URI:	http://eprints.iisc.ac.in/id/eprint/51147

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