Path Coordinates in a 3D Path Following Problem
Path Coordinates in a 3D Path Following Problem
复制标题
3D 路径跟踪问题中的路径坐标
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
S. Tkachev
中科院分区：
文献类型：
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作者：
A. Kanatnikov;W. Liu;S. Tkachev
针对飞行器的路径跟踪问题，提出了两种求解三维路径坐标的方法。第一种方法是通过投影将问题简化为二维情况。第二种方法是在目标点引入自适应帧。自适应帧的选择决定了控制综合算法的复杂性。结果表明，平行传输框架或Bishop框架是最方便的。
Two approaches to 3D path coordinates used when solving a path following problem for aerial vehicles are proposed. The first approach lies in reducing the problem to a two-dimensional case by projection. The second approach is based on introducing an adaptive frame at the target point. The choice of the adaptive frame determines the complexity of the algorithm of the control synthesis. It is shown that the parallel transport frame, or the Bishop frame, is most convenient.