Estudio sobre la estrategia de guiado L1 para el seguimiento de caminos rectos y curvos en UAV

  1. Luís Hernández-Morales
  2. Yunier Valeriano-Medina
  3. Anailys Hernández-Julián
  4. Luís Hernández-Santana
Journal:
Revista Científica de Ingeniería Electrónica, Automática y Comunicaciones

ISSN: 0258-5944,  1815-5928

Year of publication: 2017

Volume: 38

Issue: 3

Pages: 14-25

Type: Article

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Abstract

The development of autonomous vehicles is a subject of great interest in the international scientific community. For the accomplishment of missions without human intervention it is vitally to have an algorithm or guiding law. In this paper we present the results obtained by simulation with the guidance algorithm based on distance L1, during the tracking of straight and circular paths by an autonomous aerial vehicle (UAV). The algorithm produces a lateral acceleration command that is interpreted by the balancing controller to achieve convergence to the path. The results of the simulation demonstrate the good performance of the algorithm, for both straight and circular paths.

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