This paper presents a three dimensional guidance strategy for fixed-wing UAVs using quaternions. The algorithm is based on constructing two quaternions, one which makes the UAV fly towards the path and one that makes the UAV follow the path. These two quaternions are then blended together such that the path-following objective is reached. The guidance algorithm is applied to a simple kinematic model for a fixed-wing UAV with a simple kinematic controller. Simulations are provided to show the potential of this approach.
Quaternion Path-Following in Three Dimensions for a Fixed-Wing UAV Using Quaternion Blending
2018-08-01
442254 byte
Conference paper
Electronic Resource
English
2012-2483 Quaternion Control for Autonomous Path Following Maneuvers
British Library Conference Proceedings | 2012
|Wiley | 2022
|