Abstract
An online UAV collision avoidance trajectory planning algorithm based on Pythagorean Hodograph (PH) curve is presented. To fully use the PH trajectories performance that the curvature of the curve is continuous and precisely known, the backstepping trajectory tracking control is introduced. The location and crossing heading equations were established within the Serret-Frenet coordinates. The asymptotically stable convergence crossing heading law was designed based on the error formulations. The flight experimental results show that the proposed adaptive tracking control method are effective.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
