The guidance algorithm for the UAV follows a complex path based on the Frenet coordinate system

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Authors

  • Nguyen Hoang Viet Institute of Military Technical Automation, Academy of Military Science and Technology
  • Nguyen Vu (Corresponding Author) Institute of Military Technical Automation, Academy of Military Science and Technology
  • Nguyen Thu Trang Institute of Military Technical Automation, Academy of Military Science and Technology

DOI:

https://doi.org/10.54939/1859-1043.j.mst.CAPITI.2024.119-125

Keywords:

Fixed-wing UAV; Path following; Frenet-Serret frame; UAV guidance.

Abstract

This article presents the problem of controlling a fixed-wings UAV to follow complex paths when performing special tasks. To guide the UAV following complex paths, the article proposes a solution to apply the Frenet-Serret frame to the desired path and proposes a guidance algorithm. The stability of the guidance control law is proven by the Lyapulov function, the proposed algorithms are verified by simulation in Matlab.

References

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[2]. Phạm Thị Phương Anh, Nguyễn Vũ, Phan Tương Lai, “Thuật toán dẫn đường cho UAV dựa trên hệ tọa độ Serret-Frenet”. Tạp chí Nghiên cứu Khoa học và Công nghệ quân sự, Số Đặc san TĐH, (2019).

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[6]. R. Ghabcheloo, A. Pascoal, C. Silvestre and I. Kaminer, “Nonlinear Coordinated Path Following Control of Multiple Wheeled Robots with Bidirectional Communication Constraints”. Journal of Adaptive Control and Signal Processing, (2005). DOI: https://doi.org/10.1016/S1474-6670(17)32006-2

[7]. Randal W. Beard , Timothy W. McLain, “Small Unmanned Aircraft - Theory and Practice Supplement”. Princeton University, (2023).

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Published

01-04-2024

How to Cite

Nguyễn Hoàng Việt, Nguyễn Vũ, and Nguyễn Thu Trang. “The Guidance Algorithm for the UAV Follows a Complex Path Based on the Frenet Coordinate System”. Journal of Military Science and Technology, no. CAPITI, Apr. 2024, pp. 119-25, doi:10.54939/1859-1043.j.mst.CAPITI.2024.119-125.

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Research Articles

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