Principles of Guidance-Based Path Following in 2D and 3D

Breivik, Morten; Fossen, Thor I.

doi:10.1109/cdc.2005.1582226

Cited by 178 publications

(125 citation statements)

References 9 publications

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“…2 LOS proportional guidance law Equation (13) is similar to the formulae used by Healey and Lienard (1993), Pettersen and Lefeber (2001), Børhaug and Pettersen (2005), Breivik and Fossen (2005), Fredriksen and Pettersen (2006), and Breivik and Fossen (2009). The proportional LOS guidance law for (15) is chosen as:…”

Section: Kinematic Equationsmentioning

confidence: 99%

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

Fossen¹,

Pettersen²

2014

Automatica

231

105

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This paper presents a uniform semiglobal exponential stability (USGES) proof for a class of proportional line-of-sight (LOS) guidance laws used for vehicle path-following control. The LOS guidance law under consideration is a lookahead-based guidance law for marine craft. The USGES proof extends previous results that only guarantee global κ-exponential stability. Typical applications are marine craft and aircraft motion control systems for path following where the total system is a cascade of the motion controller and guidance law error dynamics.

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Section: Kinematic Equationsmentioning

confidence: 99%

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

Fossen¹,

Pettersen²

2014

Automatica

231

105

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“…The following material is adapted from (Breivik & Fossen 2004a), (Breivik & Fossen 2005b), and (Breivik et al 2008). …”

Section: Path Following Is Ensured By Proper Assignments To χ() T As mentioning

confidence: 99%

“…However, the steering laws of Section 4 need to be extended. Specifically, in what follows, lookahead-based steering will be put into a spatial framework for regularly parameterized paths, adapted from (Breivik & Fossen 2005b For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications.…”

Section: Guidance Laws For 3d Scenariosmentioning

confidence: 99%

Guidance Laws for Autonomous Underwater Vehicles

Breivik¹,

Fossen²

2009

Underwater Vehicles

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“…On the other hand, some of the related literature has studied this problem from the view-point of guidance also. [5] presented a concept of guidance-based path following using a parameterized geometry of the trajectory to be tracked. [6], [7] presented a nonlinear guidance logic which approximates a proportional-derivative controller of crosstrack error when close to the trajectory to track with an additional element of anticipatory control enabling tight tracking when following curved paths.…”

Section: Introductionmentioning

confidence: 99%

Development and testing of the intercept primitives for planar UAV engagement

Ghosh

Davis

Chung

et al. 2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

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Abstract-With the advance in technologies and applications involving unmanned aerial systems cooperation among the autonomous agents within such an unmanned system as well as preparedness for responding to adversarial threat to such a system has become of pivotal importance. A multiphase operational scenario of such cooperative and adversarial engagement, motivated by manned aerial engagement scenarios, is presented in this paper. A Proportional navigation-based integrated guidance methodology is proposed and investigated as a candidate strategy for intercept primitives in such realistic multi-phase UAV engagements. Numerical examples are presented to demonstrate the performance of the proposed guidance strategy for an UAV in such an engagement. Finally, implementation of these guidance laws in a waypoint-based manner, well suited for use in modern-day autopilots of UAVs, is demonstrated in software-in-the-loop simulations, further accelerating future live-fly capabilities for autonomous aerial engagements.

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Principles of Guidance-Based Path Following in 2D and 3D

Cited by 178 publications

References 9 publications

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws

Guidance Laws for Autonomous Underwater Vehicles

Development and testing of the intercept primitives for planar UAV engagement

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