Synthetic-Waypoint Guidance Algorithm for Following a Desired Flight Trajectory

IDVD-based trajectory generator for autonomous underwater docking operations

“…This module mimics the controller that is intended to be used on board the Flinders AUV. This controller is based on the traveling waypoint (WP) guidance that computes a synthetic WP [31], which travels along the reference trajectory generated by the Trajectory generator module. In this specific implementation, the location of the traveling WP, commanded controls, u ref (t k ), necessary to achieve…”

Design of Three-Dimensional Path Following Guidance Logic

“…Global convergence is proved, but this method is not applicable to three-dimensional space paths. Recent common approach [7][8][9][10][11][12][13] is rewriting the path following problem as the classical line-of-sight guidance problem by specifying a moving virtual target along the desired path. This approach generates a simple guidance law, yet can compensate a large deviation from the desired path.…”

“…However, the position of virtual target is not easy to determine, and the initial distance between the vehicle and the desired path should be less than the specified distance. Some methods in this approach are still for the paths in planar motion [9][10][11][12][13].…”

Development and testing of the intercept primitives for planar UAV engagement

“…[8] obtained differential geometric expressions for orbits that allow an aircraft to keep flight paths that result in constant line of sight with respect to the aircraft body-fixed frame. [9] presented a synthetic-waypoint guidance algorithm which attempts to emulate pure pursuit (PP) guidance law and showed that its performance depends on a guidance parameter -the desired time horizon for the vehicle to initiate a response to flight path changes. For tracking of circular paths by UAVs [10] analyzed a guidance law which has also a similarity with PN guidance law against a stationary virtual target that is moved with time.…”

“…For tracking of circular paths by UAVs [10] analyzed a guidance law which has also a similarity with PN guidance law against a stationary virtual target that is moved with time. The trajectory shaping guidance in [11] has been investigated in [12] for virtual target following on a planar path and its advantage over PP based method [9] has been shown.…”