High performance path following for UAV based on advanced vector field guidance law

2016 ◽  
Author(s):  
Mohammed Abozied Hassan Abozied ◽  
Shiyin Qin
Keyword(s):  
Vector Field ◽  
High Performance ◽  
Path Following ◽  
Guidance Law ◽  
Vector Field Guidance

Time-Varying Vector Field Guidance Law for Path Following and Obstacle Avoidance for Underactuated Autonomous Vehicles

2019 ◽  
Author(s):  
Haitong Xu ◽  
M. A. Hinostroza ◽  
C. Guedes Soares
Keyword(s):  
Vector Field ◽  
Obstacle Avoidance ◽  
Autonomous Vehicles ◽  
Sliding Mode ◽  
Path Following ◽  
Guidance System ◽  
Time Varying ◽  
Guidance Law ◽  
Heading Angle ◽  
Vector Field Guidance

Abstract This paper presents a time-varying vector field guidance law for path-following control of underactuated autonomous vehicles. The proposed guidance law employs a time-varying equation to calculate the desired heading angle. A sliding mode controller is designed to track the desired heading angle, and it is proved to be globally exponentially stable (GES). With this controller, the stability proof for guidance system is presented and the equilibrium point of the guidance system is Uniform Global Asymptotic Stable (UGAS). In order to avoid the obstacle when ship approaching the predefined path, a combined Path-following and repelling field based obstacle avoidance system is proposed in this paper. Simulations are carried out to validate the performance of the combined path-following and collision avoidance system.

Vector Field Guidance Law for Curved Path Following of an Underactuated Autonomous Ship Model

2020 ◽  
Vol 162 (A3) ◽  
Author(s):  
Haitong Xu ◽  
C Guedes Soares
Keyword(s):  
Vector Field ◽  
Path Following ◽  
Field Method ◽  
Least Square ◽  
Support Vector ◽  
Ship Model ◽  
Guidance Law ◽  
Surface Ship ◽  
Autonomous Ship ◽  
Vector Field Guidance

A vector field guidance law and control system for curved path following of an underactuated surface ship model is presented in this paper. In order to obtain the curved path, continuous derivatives piecewise cubic Hermite interpolation is applied for path generation based on the predefined waypoints. A heading autopilot controller is designed based on 2nd order Nomoto’s model and its stability is guaranteed by the Diagram of Vyshnegradsky method. The parameters of Nomoto model are estimated using least square support vector machine based on the manoeuvring tests. The vector field guidance law is applied for both straight and curved path-following control of an underactuated surface ship model. In order to demonstrate the performance, the classical guidance law based on line-of-sight, is adopted for comparison. The results show that the vector field method is capable to solve the guidance problem of underactuated surface ships.

VECTOR FIELD GUIDANCE LAW FOR CURVED PATH FOLLOWING OF AN UNDERACTUATED AUTONOMOUS SHIP MODEL

2021 ◽  
Vol 162 (A3) ◽  
Author(s):  
Haitong Xu ◽  
C Guedes Soares
Keyword(s):  
Vector Field ◽  
Path Following ◽  
Field Method ◽  
Least Square ◽  
Support Vector ◽  
Ship Model ◽  
Guidance Law ◽  
Surface Ship ◽  
Autonomous Ship ◽  
Vector Field Guidance

A vector field guidance law and control system for curved path following of an underactuated surface ship model is presented in this paper. In order to obtain the curved path, continuous derivatives piecewise cubic Hermite interpolation is applied for path generation based on the predefined waypoints. A heading autopilot controller is designed based on 2nd order Nomoto’s model and its stability is guaranteed by the Diagram of Vyshnegradsky method. The parameters of Nomoto model are estimated using least square support vector machine based on the manoeuvring tests. The vector field guidance law is applied for both straight and curved path-following control of an underactuated surface ship model. In order to demonstrate the performance, the classical guidance law based on line-of-sight, is adopted for comparison. The results show that the vector field method is capable to solve the guidance problem of underactuated surface ships.

scholarly journals Vector Field Guidance for Path following of MAVs in Three Dimensions for Variable Altitude Maneuvers

2010 ◽  
Vol 2 (4) ◽  
pp. 255-265 ◽  
Author(s):  
Vaitheeswaran S. Meenakshisundaram ◽  
Venkatanarayana K. Gundappa ◽  
B. Sashi Kanth
Keyword(s):  
Vector Field ◽  
Path Following ◽  
Three Dimensions ◽  
Vector Field Guidance
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