Guidance algorithm for smooth trajectory tracking of a fixed wing UAV flying in wind flows

TL;DR

This paper introduces a guidance algorithm for fixed wing UAVs to accurately follow smooth, possibly time-varying trajectories in wind conditions, ensuring physical constraints are respected and validated through theoretical analysis and flight tests.

Contribution

The paper presents a novel guiding vector field-based algorithm that guarantees convergence and respects UAV constraints during trajectory tracking in wind disturbances.

Findings

Algorithm successfully tracks desired trajectories in wind conditions.

Theoretical convergence is proven for the proposed guidance method.

Flight experiments validate the algorithm's effectiveness and constraint adherence.

Abstract

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.