UAV obstacle avoidance path-following method under time-varying wind disturbance at low altitudes
An unmanned aerial vehicle path-following method under unknown time-varying wind disturbance was designed to solve the problem of unmanned aerial vehicle obstacle avoidance path-following at low altitudes.Firstly,a kinematic model of the unmanned aerial vehicle in the two-dimensional plane was given to complete the mathematical modeling of the obstacle avoidance path-following;secondly,a vector field method was used to design the tracking control law for the desired path of the Bessel curve under the unknown time-varying wind disturbance condition,and a ground speed estimator was designed for measuring the ground speed of the unmanned aerial vehicle under the unknown time-varying wind disturbance,and the Liapunov stability of the path-following was analyzed.Finally,a simulation was carried out to verify the Bessel curve's expected path-following under unknown time-varying wind disturbance.The simulation experiments demonstrate that the designed unmanned aerial vehicle path-following method can achieve stable path-following under the unknown time-varying wind disturbance.
unmanned aerial vehicle at low altitudewind sheartime-varying wind disturbanceobstacle avoidance pathtracking control law
万方数据
维普
