A streamlined nonlinear path following kinematic controller

This paper presents a new nonlinear path-following guidance method for autonomous vehicles, which integrates two guidance laws that have given good results independently in applications in autonomous ground, marine, and air vehicles. This new technique retains the best aspects of its two supporting...

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Detalles Bibliográficos
Autores: Cruz García, Jesús Manuel de la, López Orozco, José Antonio, Besada Portas, Eva, Aranda Almansa, Joaquín
Tipo de recurso: capítulo de libro
Fecha de publicación:2015
País:España
Institución:Universidad Complutense de Madrid (UCM)
Repositorio:Docta Complutense
Idioma:inglés
OAI Identifier:oai:docta.ucm.es:20.500.14352/35842
Acceso en línea:https://hdl.handle.net/20.500.14352/35842
Access Level:acceso abierto
Palabra clave:004
Unmanned aerial vehicles
Line of sight
Trajectory tracking
Autonomous vehicles
Guidance
Algorithms
Ships
Informática (Informática)
1203.17 Informática
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oai_identifier_str oai:docta.ucm.es:20.500.14352/35842
network_acronym_str ES
network_name_str España
repository_id_str
spelling A streamlined nonlinear path following kinematic controllerCruz García, Jesús Manuel de laLópez Orozco, José AntonioBesada Portas, EvaAranda Almansa, Joaquín004Unmanned aerial vehiclesLine of sightTrajectory trackingAutonomous vehiclesGuidanceAlgorithmsShipsInformática (Informática)1203.17 InformáticaThis paper presents a new nonlinear path-following guidance method for autonomous vehicles, which integrates two guidance laws that have given good results independently in applications in autonomous ground, marine, and air vehicles. This new technique retains the best aspects of its two supporting methods, whereas it overcomes some of their drawbacks. It uses the control law by Park et al. to command the vehicle position towards a reference point. However, the position of the reference point is controlled in a different way: instead of being calculated to stay at a fixed distance forward of the vehicle, we use a strategy, inspired in the works by other authors, that controls the speed of the reference point to maintain its position at the given distance. This change does not increment the number of parameters to tune the algorithm and makes it applicable to any initial conditions and parameterized paths. The paper also analyzes the stability of this new nonlinear guidance control law and shows its effectiveness under different simulations.IEEE Computer SOCUniversidad Complutense de Madrid20152015-01-0120152015-01-01book parthttp://purl.org/coar/resource_type/c_3248info:eu-repo/semantics/bookPartapplication/pdfhttps://hdl.handle.net/20.500.14352/35842reponame:Docta Complutenseinstname:Universidad Complutense de Madrid (UCM)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:docta.ucm.es:20.500.14352/358422026-06-02T12:44:21Z
dc.title.none.fl_str_mv A streamlined nonlinear path following kinematic controller
title A streamlined nonlinear path following kinematic controller
spellingShingle A streamlined nonlinear path following kinematic controller
Cruz García, Jesús Manuel de la
004
Unmanned aerial vehicles
Line of sight
Trajectory tracking
Autonomous vehicles
Guidance
Algorithms
Ships
Informática (Informática)
1203.17 Informática
title_short A streamlined nonlinear path following kinematic controller
title_full A streamlined nonlinear path following kinematic controller
title_fullStr A streamlined nonlinear path following kinematic controller
title_full_unstemmed A streamlined nonlinear path following kinematic controller
title_sort A streamlined nonlinear path following kinematic controller
dc.creator.none.fl_str_mv Cruz García, Jesús Manuel de la
López Orozco, José Antonio
Besada Portas, Eva
Aranda Almansa, Joaquín
author Cruz García, Jesús Manuel de la
author_facet Cruz García, Jesús Manuel de la
López Orozco, José Antonio
Besada Portas, Eva
Aranda Almansa, Joaquín
author_role author
author2 López Orozco, José Antonio
Besada Portas, Eva
Aranda Almansa, Joaquín
author2_role author
author
author
dc.contributor.none.fl_str_mv Universidad Complutense de Madrid
dc.subject.none.fl_str_mv 004
Unmanned aerial vehicles
Line of sight
Trajectory tracking
Autonomous vehicles
Guidance
Algorithms
Ships
Informática (Informática)
1203.17 Informática
topic 004
Unmanned aerial vehicles
Line of sight
Trajectory tracking
Autonomous vehicles
Guidance
Algorithms
Ships
Informática (Informática)
1203.17 Informática
description This paper presents a new nonlinear path-following guidance method for autonomous vehicles, which integrates two guidance laws that have given good results independently in applications in autonomous ground, marine, and air vehicles. This new technique retains the best aspects of its two supporting methods, whereas it overcomes some of their drawbacks. It uses the control law by Park et al. to command the vehicle position towards a reference point. However, the position of the reference point is controlled in a different way: instead of being calculated to stay at a fixed distance forward of the vehicle, we use a strategy, inspired in the works by other authors, that controls the speed of the reference point to maintain its position at the given distance. This change does not increment the number of parameters to tune the algorithm and makes it applicable to any initial conditions and parameterized paths. The paper also analyzes the stability of this new nonlinear guidance control law and shows its effectiveness under different simulations.
publishDate 2015
dc.date.none.fl_str_mv 2015
2015-01-01
2015
2015-01-01
dc.type.none.fl_str_mv book part
http://purl.org/coar/resource_type/c_3248
dc.type.openaire.fl_str_mv info:eu-repo/semantics/bookPart
format bookPart
dc.identifier.none.fl_str_mv https://hdl.handle.net/20.500.14352/35842
url https://hdl.handle.net/20.500.14352/35842
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE Computer SOC
publisher.none.fl_str_mv IEEE Computer SOC
dc.source.none.fl_str_mv reponame:Docta Complutense
instname:Universidad Complutense de Madrid (UCM)
instname_str Universidad Complutense de Madrid (UCM)
reponame_str Docta Complutense
collection Docta Complutense
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.300719

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