UAV path following in windy urban environments

Kothari, Mangal, Postlethwaite, Ian and Gu, Da-Wei (2014) UAV path following in windy urban environments. Journal of Intelligent and Robotic Systems, 74 (3-4). pp. 1013-1028. ISSN 0921-0296

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Official URL: http://dx.doi.org/10.1007/s10846-013-9873-z

Abstract

This paper considers UAV path following in cluttered environments under windy conditions. Unstructured wind patterns in cluttered environments can make path following difficult resulting in high errors and possibly collisions with buildings. Combining a pursuit guidance law philosophy with a line-of-sight guidance law, we develop a novel guidance law that has low computational complexity and can track straight line paths, circular paths, a combination of both and waypaths accurately in the presence of wind blowing as high as fifty percent of the UAV's air speed. Performance of the guidance law is demonstrated through numerical simulations.

Item Type: Article
Uncontrolled Keywords: path following, line-of-sight guidance, pursuit guidance, waypath following, path planning
Subjects: H600 Electronic and Electrical Engineering
Department: Faculties > Engineering and Environment > Mathematics, Physics and Electrical Engineering
Depositing User: Nicola King
Date Deposited: 26 Jun 2014 09:55
Last Modified: 24 Oct 2017 08:52
URI: http://nrl.northumbria.ac.uk/id/eprint/16717

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