Harinarayana, Tammineni (Indian Institute of Technology Kharagpur), Krishnan, Siva Vignesh (Indian Institute of Technology Kharagpur), Hota, Sikha (Indian Institute of Technology Kharagpur), Kushwaha, Rahul (Indian Institute of Technology Kharagpur)

A Lyapunov Guidance Vector Field Based Continuous Curvature Path Generation for Waypoint Following of UAVs

Scheduled for presentation during the Regular Session "Path Planning III" (ThA3), Thursday, June 17, 2021, 11:10−11:30, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This paper generates a continuous curvature path for Unmanned Aerial Vehicles (UAVs) to converge to a straight-line path using the Lyapunov Guidance Vector Field (LGVF) approach. Further, a waypoint following method that utilizes the straight line convergence algorithm along with a switching technique to transit between two consecutive waypoint segments to find a near time-optimal and smooth path has been presented. Numerical examples demonstrate that the proposed algorithm is better in comparison to the other well-performing algorithms existing in the literature and the corresponding results have been included.