2024/09/13 by Saurabh Kumar, Shashi Ranjan Kumar, Kumar, Saurabh +3
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #Dynamical Systems (math.DS) #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Guidance and Control Systems #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2409.08507
openalex publication_date 2024/09/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following problems, subjected to bounded inputs. Specifically, we propose a novel nonlinear path-following guidance law for a UAV that enables it to follow any smooth curvilinear path in three dimensions while accounting for the bounded control authority in the design. The proposed solution offers a general treatment of the path-following problem by removing the dependency on the path's geometry, which makes it applicable to paths with varying levels of complexity and smooth curvatures. Additionally, the proposed strategy draws inspiration from the pursuit guidance approach, which is known for its simplicity and ease of implementation. Theoretical analysis guarantees that the UAV converges to its desired path within a fixed time and remains on it irrespective of its initial configuration with respect to the path. Finally, the simulations demonstrate the merits and effectiveness of the proposed guidance strategy through a wide range of engagement scenarios, showcasing the UAV's ability to follow diverse curvilinear paths accurately.