Path-following in three dimensions using quaternions for a fixed-wing UAV

被引：0

作者：

Andersen, Tom Stian ^{[1
]}

Kristiansen, Raymond ^{[1
]}

机构：

[1] Arctic Univ Norway, Dept Elect Engn, NO-8514 Narvik, Norway

来源：

2017 IEEE 26TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | 2017年

关键词：

GUIDANCE;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：1117 / 1122

页数：6

共 21 条

[1] Beard R. W., 2012, SMALL UNMANNED AIRCR
[2] Breivik M, 2005, IEEE DECIS CONTR P, P627
[3] Breivik M, 2005, OCEANS-IEEE, P2807
[4] Chu ZZ, 2015, 2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, P1143, DOI 10.1109/ICInfA.2015.7279458
[5] Dam E. B., 1998, TECH REP
[6] Egeland O., 2002, Modeling and Simulation for Automatic Control
[7] Frew EW, 2007, P AMER CONTR CONF, P5021
[8] Vector Fields for Robot Navigation Along Time-Varying Curves in n-Dimensions
Goncalves, Vinicius M.
Pimenta, Luciano C. A.
Maia, Carlos A.
Dutra, Bruno C. O.
Pereira, Guilherme A. S.
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (04) : 647 - 659
[9] Hall J., 2012, INF AER C
[10] Lekkas A.M., 2013, IFAC P, V46, P245

← 1 2 3 →