Aiming at the problem that small unmanned aerial vehicles (UAVs) are easily interfered by crosswind and their path following accuracy is not high, this article proposes an accurate path following algorithm of UAVs under crosswind disturbances. The GPS ground speed vector is used as the control variable, which can naturally suppress the crosswind disturbance. Then based on the analysis and research of the PLOS algorithm, this algorithm is an improved PLOS (IPLOS) algorithm based on virtual guidance points, and at the same time, aiming at the shortcomings of fixed control parameters, a more efficient and flexible method for selecting control parameters is proposed, which has control coefficients change with tracking errors. Simulation and flight experiments verify the effectiveness and reliability of the algorithm proposed in this paper. This algorithm can effectively resist the interference of crosswinds during flight, and can improve the path following speed with small overshoot and high tracking accuracy.
An Accurate Path Following Algorithm of UAVs Under Crosswind Disturbance
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 169 ; 1717-1727
2022-03-18
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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