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http://dx.doi.org/10.5139/JKSAS.2021.49.2.121

Dubins Path Generation and Tracking of UAVs With Angular Velocity Constraints  

Yang, You-young (Department of Aerospace Engineering, Chosun University)
Jang, Seok-ho (Department of Aerospace Engineering, Chosun University)
Leeghim, Henzeh (Department of Aerospace Engineering, Chosun University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.49, no.2, 2021 , pp. 121-128 More about this Journal
Abstract
In this paper, we propose a path generation and tracking algorithm of an unmanned air vehicle in a two-dimensional plane given the initial and final points. The path generation algorithm using the Dubins curve proposed in this work has the advantage that it can be applied in real time to an unmanned air vehicle. The path tracking algorithm is an algorithm similar to the line-of-sight induction algorithm. In order to efficiently control the direction angle, a gain related to the look ahead distance concept is introduced. Most of UAVs have the limited maximum curvature due to the structural constraints. A numerical simulation is conducted to follow the path generated by the sliding mode controller considering the angular velocity limit. The path generation and tracking performance is verified by comparing the suggested controller with conventional control techniques.
Keywords
Unmanned Air Vehicle; Path Generation; Path Tracking; Dubins Path; Sliding Mode Control;
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