论文信息 - Vector Field Approach for Curved Path Following for Miniature Aerial Vehicles

Vector Field Approach for Curved Path Following for Miniature Aerial Vehicles

A robust path following method that allows miniature aerial vehicles to track straight lines, arcs, and arbitrary curved paths using a vector field of course commands is presented. In addition, a proof showing that lateral-following error decays asymptotically even in the presence of constant wind disturbances is put forth. These claims are experimentally verified with flight test results that demonstrate accurate path following over a variety of curved paths with varying spatial frequency and amplitude. The average lateral-following error in preliminary results is 3.4 m for amplitudes ranging between 10 and 100 m and spatial periods between 125 and 500 m.

S. Griffiths

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