Guidance algorithm for smooth trajectory tracking of a fixed wing UAV flying in wind flows
This work addresses trajectory tracking for UAVs in windy conditions, offering a practical solution for applications like surveillance or delivery, but it is incremental as it builds on existing vector field methods.
The paper tackles the problem of tracking smooth curves for a fixed-wing UAV under constant wind disturbances, presenting a guidance algorithm based on a guiding vector field that ensures coordinated turns via bank angle control and respects physical constraints, with theoretical convergence analysis and performance results from actual flights provided.
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of following a guiding vector field which is constructed from the implicit function that describes the desired (possibly time-varying) trajectory. The output of the algorithm can be directly expressed in terms of the bank angle of the UAV in order to achieve coordinated turns. Furthermore, the algorithm can be tuned offline such that physical constraints of the UAV, e.g. the maximum bank angle, will not be violated in a neighborhood of the desired trajectory. We provide the corresponding theoretical convergence analysis and performance results from actual flights.