Method of 3 dimensions Dubins path generated and tracked for the unpowered UAV at the approach stage

For the approach stage when the unmanned aerial vehicle (UAV) loses of power, it is a special case that how to track a given approach path. A method of 3 dimensions Dubins path generated and tracked is proposed. Firstly, using Dubins curve solves the path planning problem which involves that the fault position of UAV is arbitrary and the real-time of the path solution is well. Secondly, for tracking the 3 dimension Dubins path, a method of adaptive nonlinear guidance based on the switching plane is designed. The switching plane deals with the transition issues between the arc and line guidance, while the adaptive law reduces the interacting between longitudinal and lateral guidance, which improves the tracking accuracy. Finally, the effectiveness of this method is proved by the simulation.