Multi-Rotor Path-following Performance using Vector Field Guidance and Velocity Control
Theodore Tuttle, Travis W. Moleski, Jay Paul Wilhelm · AIAA Scitech 2021 Forum · 2021
View Video Presentation: https://doi.org/10.2514/6.2021-0782.vid Autonomous aerial vehicle path following requires robust guidance commands for successful mission completion. Discrete waypoints are typically used, but only allow for straight line path following. Following smooth trajectories is desired so ground features or tight turns can be highly controlled which can not be achieved while using waypoint guidance. Vector field guidance providing heading commands representing the desired path can instead be used to provide smooth path following for fixed wing aircraft, but requires the use of carrot chasing for multi-rotor vehicles using position control where a point is placed in front of the vehicle along the commanded heading. The carrot chasing method can create lagged areas causing velocity oscillation and drift from the planned path on curved trajectories resulting in poor path fol-lowing performance without explicit velocity control. Components from vector field guidance field can be used to generate velocity control commands instead of position commands which rely on carrot chasing for multi-rotor aircraft. The present work investigates velocity control for vector field guidance enabling smooth path following for multi-rotor autonomous vehicles so carrot chasing with position control can be replaced. Comparisons between vector field velocity control and carrot chasing position control path following performance using cross track error are made to identify improvements and deteriorations. Results may be used to obtain smoother path following using vector field guidance and velocity control with multi-rotor autonomous systems resulting in shorter flight times and less energy consumption compared to carrot chasing methods.