相关论文: Adaptive Line-Of-Sight guidance law based on vecto…

The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…

This paper presents an Improved Extended-state-observer based Line-of-Sight (IELOS) guidance law for path following of underactuated Autonomous Underwater helicopter (AUH) utilizing a nonlinear tracking differentiator and anti-saturation…

Small, low-speed fixed-wing Unmanned Aerial Vehicles (UAVs) operating autonomously, beyond-visual-line-of-sight (BVLOS) will inevitably encounter winds rising to levels near or exceeding the vehicles' nominal airspeed. In this paper, we…

This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…

Lines provide the significantly richer geometric structural information about the environment than points, so lines are widely used in recent Visual Odometry (VO) works. Since VO with lines use line tracking results to locate and map, line…

This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…

In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the path which is used…

A recently proposed 3-D adaptive line-of-sight (ALOS) path-following algorithm addressed coupled motion dynamics of marine craft, aircraft and uncrewed vehicles under environmental disturbances such as wind, waves and ocean currents.…

Reference path following is a key component in the functioning of almost all engineered autonomous agents. Among several path following guidance methods in existing literature, vector-field-based guidance approach has got wide attention…

This paper addresses the challenging problem of robust path-following for fixed-wing unmanned aerial vehicles (UAVs) in complex environments with bounded external disturbances and non-smooth predefined paths. Due to the unique aerodynamic…

This paper presents a reinforcement learning (RL) based approach for path planning of cellular connected unmanned aerial vehicles (UAVs) operating beyond visual line of sight (BVLoS). The objective is to minimize travel distance while…

This paper presents a decentralized, collision-free framework for path following guidance of multiple uncrewed aerial vehicles (UAVs), while maintaining uniform spacing along a reference path. A vector field-based guidance law is employed…

This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral…

In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following…

Anticipating the motion of other road users is crucial for automated driving systems (ADS), as it enables safe and informed downstream decision-making and motion planning. Unfortunately, contemporary learning-based approaches for motion…

This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…

A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…

In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two…

This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…