Bennett, Matthew; Mowlem, Matthew; Kazmierski, Tom. 2007 A robust control algorithm for path tracking by an oceanographic unmanned aeronautical vehicle. In: OCEANS 2007 - Europe, Aberdeen, UK, 18-21 Jun 2007. Richardson TX, USA, Institute of Electrical and Electronics Engineers, 1-5.
Abstract
We present a path tracking algorithm for navigation of an oceanographic unmanned aeronautical vehicle. Aircraft bank angle is used to maintain desired closing speeds along and normal to the desired track. The algorithm is capable of tracking linear and circular path segments. Simulated flights under near gale force winds suggest the algorithm is sufficiently robust for practical navigation during off-shore research. The algorithm's simplicity permits a high frequency update by the autopilot's low-power processor.
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