Hybrid Gradient Vector Fields Based on Maneuver Space for Path-following Guidance

Yiyang Zhao, Deyun Zhou, Zhen Yang, Xiaoyang Li, Jichuan Huang, Xiaofeng Lv

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Guidance path-planning and following are two important functionalities of unmanned aerial vehicles (UAVs), but only a few approaches deal with both. In this study, an innovative hybrid gradient vector fields algorithm based on maneuver space (HGVFs-MS) for path-following guidance is proposed to control fixed-wing UAVs to follow a generated guidance path and oriented target curves in three-dimensional space, which can be any combination of straight lines, arcs, and helixes as motion primitives. The strategies designed in earlier studies have flaws that prevent the UAV from following arcs that make its turning angle too large. The switching strategy proposed in this study solves this problem by introducing the concept of the virtual waypoints. Finally, the performance of the HGVFs-MS algorithm is verified by three representative simulation scenarios. The simulation considers the constraints of the aircraft, and its results indicate that the algorithm performs well in following both lateral and longitudinal control, particularly for curved paths.

Original languageEnglish
Title of host publication2022 22nd International Conference on Control, Automation and Systems, ICCAS 2022
PublisherIEEE Computer Society
Pages869-876
Number of pages8
ISBN (Electronic)9788993215243
DOIs
StatePublished - 2022
Event22nd International Conference on Control, Automation and Systems, ICCAS 2022 - Busan, Korea, Republic of
Duration: 27 Nov 20221 Dec 2022

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2022-November
ISSN (Print)1598-7833

Conference

Conference22nd International Conference on Control, Automation and Systems, ICCAS 2022
Country/TerritoryKorea, Republic of
CityBusan
Period27/11/221/12/22

Keywords

  • Hybrid gradient vector field (HGVF)
  • Maneuver space
  • Path-following guidance (PFG)
  • Unmanned aerial vehicle (UAV)

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