Curvature-Constrained Vector Field for Path following Guidance

Shivam, A and Ratnoo, A (2021) Curvature-Constrained Vector Field for Path following Guidance. In: 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, 15-18 Jun 2021, Athens, pp. 853-857.

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Abstract

This paper introduces a new vector field guidance method to generate continuously flyable paths for unmanned air vehicles. The central idea of the proposed vector field approach is imbibed in the commanded course angle, which is expressed as a nonlinear function of the position error with respect to the desired path. Considering straight line and circular paths, the asymptotic behavior of position error is shown to converge to zero. Analysis of path curvature establishes a significantly lower maximum value as compared to a popular existing method. Simulation results are presented considering a two-dimensional kinematic model of the vehicle. Overall, the method presents an easily computable path following solution with superior curvature characteristics. © 2021 IEEE.

Item Type:	Conference Paper
Publication:	2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Kinematics; Unmanned aerial vehicles (UAV), Asymptotic behaviors; Circular paths; Curvature constrained; Nonlinear functions; Path curvature; Position errors; Two-dimensional kinematics; Unmanned air vehicle (UAVs), Air navigation
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	20 Nov 2021 11:35
Last Modified:	20 Nov 2021 11:35
URI:	http://eprints.iisc.ac.in/id/eprint/69899

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