| Citation: | LI Yue, CHEN Qingyang, HOU Zhongxiet al. Path following method with adaptive guidance length for unmanned aerial vehicles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(7): 1481-1490. doi: 10.13700/j.bh.1001-5965.2016.0522(in Chinese)
|
To guarantee the flight stability and high accuracy of path following for unmanned aerial vehicles (UAVs), a nonlinear path following method with adaptive guidance length is proposed. First, the kinematic model of UAVs was built. Second, the relation between guidance length and velocity of UAVs was found according to the theoretical analysis and flight experiments of nonlinear guidance law. Then the theory and detailed realization process of the adaptive guidance length method was discussed. Finally, simulation in various situations was carried out to verify the effectiveness of the proposed method. The simulation results show that the proposed method is able to track complex trajectory accurately, even with large initial cross track error or during waypoint switching process. It can satisfy the requirement of actual flight missions.
| [1] |
TAKESHI Y, KEISUKE E, HIROYUKI T.Advanced pure pursuit guidance via sliding mode approach for chase UAV[C]//AIAA Guidance, Navigation, and Control Conference.Reston: AIAA, 2009:6298-6304.
|
| [2] |
SUJIT P B, SRIKANTH S, JOAO B S.An evaluation of UAV path following algorithms[C]//European Control Conference.Piscataway, NJ:IEEE Press, 2013:3332-3337.
|
| [3] |
HECHT C.Homing guidance using angular acceleration of the line of sight[R].Reston: AIAA, 1976: 2701-2706.
|
| [4] |
SUN M, ZHU R, YANG X.UAV path generation path following and gimbal control[C]// IEEE International Conference of Networking, Sensing and Control.Piscataway, NJ:IEEE Press, 2008:870-873.
|
| [5] |
RHEE I, PARK S, RYOO C K.A tight path following algorithm of an UAS based on PID control[C]//SICE Annual Conference, IEEE.Piscataway, NJ:IEEE Press, 2010:1270-1273.
|
| [6] |
LI C Y, JING W X.Application of PID controller to 2d differential geometric guidance problem[J].Journal of Control Theory and Applications, 2007, 5(3):285-290. doi: 10.1007/s11768-006-6109-9
|
| [7] |
吴国强. 无人机航迹跟踪控制方法研究[D]. 哈尔滨: 哈尔滨工程大学, 2010: 24-48. http: //cdmd. cnki. com. cn/Article/CDMD-10217-1011019691. htm
WU G Q.The study of UAV flight path tracking control method[D].Harbin:Harbin Engineering University, 2010:24-48(in Chinese). http: //cdmd. cnki. com. cn/Article/CDMD-10217-1011019691. htm
|
| [8] |
RYSDYK R.UAV path following for constant line-of-sight[C]//AIAA"Unmanned Unlimited" Systems Technologies & Operations Aerospace Land & Sea Conference.Reston: AIAA, 2003:6626-6636.
|
| [9] |
OTHARI M, POSTLETHWAITE L, GU D W.UAV path following in windy urban environments[J].Journal of Intelligent & Robotic Systens, 2014 74(3-4):1013-1028. doi: 10.1007%2Fs10846-013-9873-z.pdf
|
| [10] |
DALE A L, ERIC W F, WILLIAM J P.Lyapunov vector fields for autonomous UAV flight control[J].Journal of Guidance, Control, and Dynamics, 2008, 31(5):1220-1229. doi: 10.2514/1.34896
|
| [11] |
NELSON D R, BARBER D B, MCLAIN T W, et al.Vector field path following for miniature air vehicles[J].IEEE Transactions on Robotics, 2007, 23(3):519-529. doi: 10.1109/TRO.2007.898976
|
| [12] |
SANGHYUK P, JOHN D, JONATHAN P H.A new nonlinear guidance logic for trajectory tracking[C]//AIAA Guidance, Navigation, and Control Conference and Exhibit.Reston:AIAA, 2004:1-16.
|
| [13] |
SANGHYUK P, JOHN D, JONATHAN P H.Performance and Lyapunov stability of a nonlinear path-following guidance method[J].Journal of Guidance, Control, and Dynamics, 2007, 30(6):1718-1728. doi: 10.2514/1.28957
|
| [14] |
OSBOME J, RYSDYK R.Waypoint guidance for small UAVs in wind[C]//AIAA Infotech, Aerospace Conference, Arlington.Reston:AIAA, 2005:459-470.
|
| [15] |
MAO Y H, CHEN Q Y, HOU Z X, et al.An improved nonlinear guidance law for unmanned aerial vehicles path following[C]//Proceedings of the 34th Chinese Control Conference.Piscataway, NJ:IEEE Press, 2015:5271-5276.
|
| [16] |
方振平, 陈万春, 张曙光.航空飞行器飞行动力学[M].北京:北京航空航天大学出版社, 2005:20-32.
FANG Z P, CHEN W C, ZHANG S G.Flight dynamics for aircraft[M].Beijing:Beihang University Press, 2005:20-32(in Chinese).
|
| [17] |
董芳. 无人机航迹跟踪技术的研究[D]. 南京: 南京航空航天大学, 2010: 37-42. http: //d. wanfangdata. com. cn/Thesis/Y1811068
DONG F.Research on path tracking technology of UAV[D].Nanjing:Nanjing University of Aeronautics and Astronautics, 2010:37-42(in Chinese). http: //d. wanfangdata. com. cn/Thesis/Y1811068
|
| [18] |
吴森堂, 费玉华.飞行控制系统[M].北京:北京航空航天大学出版社, 2006:75-77, 94-100.
WU S T, FEI Y H.Flight control system[M].Beijing: Beihang University Press, 2006:75-77, 94-100(in Chinese).
|
| [19] |
关键. 低速无人机动态气动特性数值模拟及布局研究[D]. 长沙: 国防科学技术大学, 2013: 40-62. http: //cdmd. cnki. com. cn/Article/CDMD-90002-1015958195. htm
GUAN J.The numerical research on transient aerodynamic performances and configurations of low speed UAVs[D].Changsha:National University of Defense Technology, 2013:40-62(in Chinese). http: //cdmd. cnki. com. cn/Article/CDMD-90002-1015958195. htm
|
| [20] |
胡寿松.自动控制原理[M].北京:科学出版社, 2013:56-70.
HU S S.Automatic control principle[M].Beijing: Science Press, 2013:56-70(in Chinese).
|
Figures(20) / Tables(1)
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad:
