Hybrid gradient vector fields for path-following guidance

作     者：Yi-yang Zhao Zhen Yang Wei-ren Kong Hai-yin Piao Ji-chuan Huang Xiao-feng Lv De-yun Zhou Yi-yang Zhao;Zhen Yang;Wei-ren Kong;Hai-yin Piao;Ji-chuan Huang;Xiao-feng Lv;De-yun Zhou

作者机构：School of Electronics and InformationNorthwestern Polytechnical UniversityXi’An710072China School of Automation Science and Electrical EngineeringBeihang UniversityBeijing100191China The 93147th Unit of Chinese PLA Air ForceChengdu610091China 

出 版 物：《Defence Technology（防务技术）》 (Defence Technology)

年 卷 期：2023年第28卷第10期

页      面：165-182页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：the support of the National Natural Science Foundation of China under Grant No.62076204 and Grant No.62006193 in part by the Postdoctoral Science Foundation of China under Grants No.2021M700337 in part by the Fundamental Research Funds for the Central Universities under Grant No.3102019ZX016 

主　　题：Unmanned aerial vehicle(UAV) Path-following guidance(PFG) Hybrid gradient vector field(HGVF) Switching strategy 

摘      要：Guidance path-planning and following are two core technologies used for controlling un-manned aerial vehicles(UAVs)in both military and civilian ***,only a few approaches treat both the technologies *** this study,an innovative hybrid gradient vector fields for path-following guidance(HGVFs-PFG)algorithm is proposed to control fixed-wing UAVs to follow a generated guidance path and oriented target curves in three-dimensional space,which can be any combination of straight lines,arcs,and helixes as motion *** algorithm aids the creation of vector fields(VFs)for these motion primitives as well as the design of an effective switching strategy to ensure that only one VF is activated at any time to ensure that the complex paths are followed *** strategies designed in earlier studies have flaws that prevent the UAV from following arcs that make its turning angle too *** proposed switching strategy solves this problem by introducing the concept of the virtual ***,the performance of the HGVFs-PFG algorithm is verified using a reducedorder autopilot and four representative simulation *** simulation considers the constraints of the aircraft,and its results indicate that the algorithm performs well in following both lateral and longitudinal control,particularly for curved *** general,the proposed technical method is practical and competitive.