A three-dimensional nonlinear guidance law for path-following is proposed using differential geometry of space curves. The proposed guidance law makes a vehicle converge to and then follow a given desired path of general shape, which does not require strict restrictions on initial position and velocity. To take the advantages of the look-ahead effect for precise and robust path-following, the proposed guidance law takes the form of pure pursuit guidance, which is designed to align the velocity of the vehicle with the look-ahead vector. The look-ahead angle and the radially shifted distance are designed using differential geometry of the desired path. The proposed guidance law generates the normal acceleration command required for exact path-following and finally overcomes the limitations of previously developed look-ahead point-based methods in the case of general three-dimensional path-following. Stability analysis on the guidance law to follow constant-curvature planar paths is performed. The performance of the proposed guidance law is demonstrated by numerical simulations for various types of desired paths.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Three-Dimensional Nonlinear Differential Geometric Path-Following Guidance Law


    Contributors:
    Cho, Namhoon (author) / Kim, Youdan (author) / Park, Sanghyuk (author)

    Published in:

    Publication date :

    2015-09-10


    Size :

    20 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English