Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline Parametrization
Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline Parametrization
复制标题
DOI：
10.1109/tcst.2014.2306774
复制
发表时间：
2014-11-01
影响因子：
4.8
通讯作者：
Fossen, Thor I.
中科院分区：
文献类型：
--
作者：
Lekkas, Anastasios M.;Fossen, Thor I.
本文研究了车辆平面三自由度运动的两个相互关联的问题，即路径规划问题和引导问题。采用Fritsch和Carlson的单调三次Hermite样条插值（CHSI）技术设计路径，为用户提供更好的形状控制，避免两个连续航点之间的摆动和重叠。针对传统的视线制导律，提出了一种基于交叉跟踪误差的超前距离时变方程。这将导致在一个更灵活的机动行为，可以有助于更快地达到所需的路径，以及获得一个减少的振荡行为周围的所需的pathway. The制导系统沿着的航向控制器形成一个级联的结构，这被证明是卡帕指数稳定的控制任务时，收敛到上述CHSI方法产生的路径。此外，还讨论了侧滑角β的补偿问题，导出了一种新的κ-指数稳定的积分视线制导律，该制导律能够消除常值外扰对直线轨迹跟踪的影响。
This paper addresses two interrelated problems concerning the planar three degree-of-freedom motion of a vehicle, namely, the path planning problem and the guidance problem. The monotone cubic Hermite spline interpolation (CHSI) technique by Fritsch and Carlson is employed to design paths that provide the user with better shape control and avoid wiggles and zigzags between the two successive waypoints. The conventional line-of-sight (LOS) guidance law is modified by proposing a time-varying equation for the lookahead distance, which is a function of the cross-track error. This results in a more flexible maneuvering behavior that can contribute to reaching the desired path faster as well as obtaining a diminished oscillatory behavior around the desired path. The guidance system along with a heading controller form a cascaded structure, which is shown to be kappa-exponentially stable when the control task is to converge to the path produced by the aforementioned CHSI method. In addition, the issue of compensating for the sideslip angle beta is discussed and a new kappa-exponentially stable integral LOS guidance law, capable of eliminating the effect of constant external disturbances for straight-line path following, is derived.