High performance path following for UAV based on advanced vector field guidance law

Abstract

In this paper, we present an integrated UAV waypoint guidance scheme based on vector field guidance law and fillet path geometry switching state machine. A feedback sliding mode controller and a disturbance observer are conducted to enhance the algorithm performance and thin out the chattering effect due to heading and pitch angle rate of change constraints. Besides, a switching state machine based on fillet path geometry is proposed for reducing cross track error while switching between the desired path waypoints configurations and it is also, reduces the path length for path optimality. A simulation platform has been applied for evaluating algorithm performance and robustness for different missions with different flight conditions; we also study the effect of varying the vector field algorithm parameters and their consequence on the algorithm performance.