This paper introduces a novel baseline tau vector field (BτVF) method to provide four-dimensional (4D) guidance in time-constrained waypoint arrival tasks of Unmanned Aerial Vehicle (UAV). To guide a UAV to reach the desired position with expected speed at the certain arrival time, the bio-inspired tau guidance laws are adopted to design the vector guidance field. The UAV guided by $\mathrm{B}\tau\text{VF}$ can approach the baseline between two waypoints, and more importantly, the vehicle can arrive at the destination with strict time and velocity constraints of 4D flight tasks. A challenging 4D waypoint arrival dynamic simulation is designed for rotor UAV and solved by the proposed $\mathrm{B}\tau\text{VF}$ method. The simulation result demonstrates that the proposed method can provide 4D guidance between waypoints efficiently and effectively.
4D UAV Waypoint Arrival Guidance Based on Baseline Tau Vector Field
24.03.2023
1430846 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
MAV Waypoint Guidance with Arrival Angle and Time Scheduling Constraints (AIAA 2016-2109)
British Library Conference Proceedings | 2016
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