Three-Dimensional Nonlinear Path-Following Guidance Law Based on Differential Geometry

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• 作者：Namhoon Cho^* ; ^{nhcho91@snu.ac.kr" class="auth_mail" title="E-mail the corresponding author} ; Youdan Kim^** ; ^{ydkim@snu.ac.kr" class="auth_mail" title="E-mail the corresponding author} ; Sanghyuk Park^*** ; ^{park@kau.ac.kr" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Path-Following ; Guidance Law ; Look-Ahead Angle ; Frenet-Serret Frame
• 刊名：IFAC-PapersOnLine
• 出版年：2014
• 出版时间：2014
• 年：2014
• 卷：47
• 期：3
• 页码：2503-2508
• 全文大小：862 K

文摘

A new three-dimensional nonlinear path-following guidance law is proposed using differential geometry. The guidance law is designed based on the look-ahead angle and the radially shifted distance which gives an additional degree of freedom to generate acceleration command for precise path-following. A modified Frenet-Serret frame is utilized to describe the desired path, and the closest projection point is taken as a reference point on the desired path. To implement the guidance law for the vehicle in a flow-field, a command modifying logic is proposed to generate the sideways command which is orthogonal to the flow-relative velocity. Numerical simulations are performed to verify the performance of the proposed guidance law.