Details

Autor(en) / Beteiligte

• Kumar, Saurabh
• Sinha, Abhinav
• Kumar, Shashi Ranjan

Titel

Robust path-following guidance for an autonomous vehicle in the presence of wind

Ist Teil von

• Aerospace science and technology, 2024-07, Vol.150, p.109225, Article 109225

Ort / Verlag

Elsevier Masson SAS

Erscheinungsjahr

2024

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• This paper presents a novel nonlinear guidance law for an autonomous unmanned aerial vehicle (UAV) that enables it to track any predefined path while taking into account wind effects. The approach involves treating the desired path as the trajectory of the virtual target, which the UAV tracks without relying on knowledge of the path's curvature. This makes the design applicable to paths with varying levels of complexity and smooth curvatures. Additionally, the proposed method draws inspiration from pursuit guidance, known for its simplicity and ease of implementation. Theoretical analysis ensures that the UAV will converge to the intended path within a fixed time, irrespective of its initial configuration relative to the path. Simulations demonstrate the effectiveness of the proposed method, showcasing the UAV's ability to accurately follow diverse curvilinear paths.