An online UAV collision avoidance trajectory planning algorithm based on Pythagorean Hodograph (PH) curve is presented. To fully use the PH trajectories performance that the curvature of the curve is continuous and precisely known, the backstepping trajectory tracking control is introduced. The location and crossing heading equations were established within the Serret-Frenet coordinates. The asymptotically stable convergence crossing heading law was designed based on the error formulations. The flight experimental results show that the proposed adaptive tracking control method are effective.
Tracking control for UAV trajectory
2014-08-01
133473 byte
Conference paper
Electronic Resource
English
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