Path-following Algorithms Comparison using Software-in-the-Loop Simulations for UAVs

Unmanned Aerial Vehicles (UAVs) are aircraft that can be manually operated or autonomously guided through an autopilot. In the last case, the system is responsible for stabilising the aircraft and executing guidance tasks such as path-following. In literature, several path-following algorithms were...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2022-11, Vol.106 (3), Article 63
Main Authors: Xavier, Daniel M., Silva, Natassya B. F., Branco, Kalinka R. L. J. C.
Format: Article
Language:English
Subjects:
Aircraft
Aircraft guidance
Algorithms
Artificial Intelligence
Automatic pilot (Airplanes)
Automatic pilots
Control
Drone aircraft
Dynamic models
Electrical Engineering
Engineering
Fields (mathematics)
Genetic algorithms
Guidance (motion)
Kinematics
Mechanical Engineering
Mechatronics
Regular Paper
Robotics
Simulation methods
Software
Straight lines
Topical collection on Unmanned Systems
Unmanned aerial vehicles
Wind resistance
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Summary:Unmanned Aerial Vehicles (UAVs) are aircraft that can be manually operated or autonomously guided through an autopilot. In the last case, the system is responsible for stabilising the aircraft and executing guidance tasks such as path-following. In literature, several path-following algorithms were proposed for straight lines and loiter paths. Previous comparisons generally consider straight line algorithms in a 2D space using the kinematic model of an aircraft. In order to complement existing research, this paper compares four 3D path-following algorithms for loiter paths under different wind intensities. Tests are made through Software-in-the-Loop (SiL) simulations using the dynamic model of a fixed-wing UAV. Furthermore, a genetic algorithm is employed to tune the parameters and the analysis is carried out under varying wind conditions. The algorithms compared are four well-known geometric methods: Carrot-Chasing (CC), Non-Linear Guidance Law (NLGL), Pure Pursuit and Line-of-Sight (PLOS) and Vector Field (VF). Results show that Vector Field has the smallest errors, while PLOS is the most resistant to wind disturbance.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-022-01764-4