Path-following in three dimensions using quaternions for a fixed-wing UAV

Abstract

This paper presents a three dimensional guidance strategy for fixed-wing UAVs using quaternions. The algorithm is based on constructing two quaternions, one which makes the UAV fly towards the path and one that makes the UAV follow the path. These two quaternions are then blended together such that the path-following objective is reached. The guidance algorithm is applied to a simple kinematic model for a fixed-wing UAV with a simple kinematic controller. Simulations are provided to show the potential of this approach.

Quaternion Path-Following in Three Dimensions for a Fixed-Wing UAV Using Quaternion Blending

“…The contribution of this paper is a three-dimensional quaternion based guidance approach for general paths such as splines. The work is an extension of [19] where a similar guidance approach is developed for straight lines and circles. The proposed algorithm separates the path-following mission into first converging to the path and then following the path and for each task a quaternion is constructed to ensure that the task is fulfilled.…”