Three-dimensional vector field guidance law to control UAV

Abstract

In this dissertation, 4 new three-dimensional vector fields and rotate method are proposed. In traditional research of vector field guidance, main topic was dynamic path planning and obstacle avoidance by using realtime guarantee of vector field guidance. But most case of traditional vector field guidance is summations of source and sink vectors. Therefore, many singular points are occurred. The New three-dimensional vector fields consist only one vector field. Thus, only one singular point is occur at origin. And I propose the guidance law to control arrival condition such as algle, time and speed. By using 6DoF simulation and real flight test, prove the arrival condition can be satisfied by new three-dimensional vector field guidance.