TY - GEN
T1 - Hybrid Gradient Vector Fields Based on Maneuver Space for Path-following Guidance
AU - Zhao, Yiyang
AU - Zhou, Deyun
AU - Yang, Zhen
AU - Li, Xiaoyang
AU - Huang, Jichuan
AU - Lv, Xiaofeng
N1 - Publisher Copyright:
© 2022 ICROS.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - Hybrid gradient vector field (HGVF)
KW - Maneuver space
KW - Path-following guidance (PFG)
KW - Unmanned aerial vehicle (UAV)
UR - http://www.scopus.com/inward/record.url?scp=85146591780&partnerID=8YFLogxK
U2 - 10.23919/ICCAS55662.2022.10003695
DO - 10.23919/ICCAS55662.2022.10003695
M3 - 会议稿件
AN - SCOPUS:85146591780
T3 - International Conference on Control, Automation and Systems
SP - 869
EP - 876
BT - 2022 22nd International Conference on Control, Automation and Systems, ICCAS 2022
PB - IEEE Computer Society
T2 - 22nd International Conference on Control, Automation and Systems, ICCAS 2022
Y2 - 27 November 2022 through 1 December 2022
ER -