NDLI: UAV guidance laws to arrival at desired position and time from desired direction

Content Provider	IEEE Xplore Digital Library
Author	Seunghan Lim Hyochoong Bang
Copyright Year	2011
Description	Author affiliation: Department of Aerospace Engineering, KAIST, Daejeon, 305-701, Korea (Seunghan Lim; Hyochoong Bang)
Abstract	Many guidance laws for UAVs focus on path following. And trajectory tracking problem is enough when it satisfies path and time constrains. One more constraint will be considered in this research, that is, approaching direction to a terminal position. Two methods will be introduced; they are based on Pythagorean-Hodograph curve, and the Lyapunov vector field, respectively. The first algorithm consists of two steps. The first step is trajectory-planning using PH curve, and the second step is tracking algorithm for that curve. The second algorithm is based on vector field including a variable parameter. Using this parameter, contraction vectors toward the origin are tuned, and a desired terminal approaching condition is achieved.
Starting Page	299
Ending Page	304
File Size	693352
Page Count	6
File Format	PDF
ISBN	9781457708350
ISSN	20937121
e-ISBN	9788993215038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	PH curve Helicopters Vectors UAV Vehicle dynamics Guidance law Vehicles Pythagorean-Hodograph Curve Simulation Path Planning Trajectory Planning Lyapunov Vector Field Trajectory Planning Trajectory Tracking Vector Field
Content Type	Text
Resource Type	Article

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