Vector Field-Based Guidance for Planar Smooth Path Following of a Small Unmanned Helicopter

Chen, Yang1; Zeng, Wei1; Wu, Yongliang2

2023-05-11

10.1155/2023/8638882

JOURNAL OF ROBOTICS   影响因子和分区

1687-9600

1687-9619

This study investigates a guidance method that will allow the small unmanned helicopter to follow the predefined horizontal smooth path. A stable nonlinear guidance law, which needs the information of the inertial position and groundspeed of the helicopter and the implicit function of the desired path, is designed to generate the reference course rate command based on the concept of the vector field. The asymptotic approximation to the desired path with bounded following errors has also been demonstrated by using the Lyapunov stability arguments. Some conditions for guaranteeing the stability have been extended. Simulations on following four types of planar paths, i.e., the square, circular, elliptic, and cubic curve paths, have verified the effectiveness of the proposed method. The predefined square path following performance of the proposed vector field-based method is compared with another two guidance laws, which are based on the PD-like and fuzzy logic control. The comparison shows that the proposed method can guide the helicopter to follow the predefined path most smoothly. The maximum overshoot by using the proposed method is less than 0.016 meters, while those by using the other two methods are all larger than 0.80 meters. Moreover, the vector field-based method will cost the least time for the vehicle to converge to the predefined path.

ESCI ; EI

英语

其他

National Natural Science Foundation of China[61503172] ; Natural Science Foundation of Fujian Province[2020J05197] ; Shenzhen Special Funds for the Construction of High-Level Universities[02326402]

Robotics

Robotics

WOS:000990360500001

HINDAWI LTD

20232214163901

Air navigation ; Fuzzy logic ; Unmanned aerial vehicles (UAV) ; Vectors

Air Navigation and Traffic Control:431.5 ; Aircraft, General:652.1 ; Helicopters:652.4 ; Computer Theory, Includes Formal Logic, Automata Theory, Switching Theory, Programming Theory:721.1 ; Algebra:921.1

Web of Science

1.Longyan Univ, Sch Phys & Mechatron Engn, Longyan 364000, Fujian, Peoples R China
2.Southern Univ Sci & Technol, Dept Mech & Aerosp Engn, Shenzhen 518055, Peoples R China

Chen, Yang,Zeng, Wei,Wu, Yongliang. Vector Field-Based Guidance for Planar Smooth Path Following of a Small Unmanned Helicopter[J]. JOURNAL OF ROBOTICS,2023,2023.

Chen, Yang,Zeng, Wei,&Wu, Yongliang.(2023).Vector Field-Based Guidance for Planar Smooth Path Following of a Small Unmanned Helicopter.JOURNAL OF ROBOTICS,2023.

Chen, Yang,et al."Vector Field-Based Guidance for Planar Smooth Path Following of a Small Unmanned Helicopter".JOURNAL OF ROBOTICS 2023(2023).