Path Coordinates in a 3D Path Following Problem
- Authors: Kanatnikov A.N.1,2, Liu W.1, Tkachev S.B.1,2
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Affiliations:
- Bauman Moscow State Technical University
- Institute for Systems Analysis
- Issue: Vol 10, No 3 (2018)
- Pages: 265-275
- Section: Article
- URL: https://journals.rcsi.science/2070-0482/article/view/202303
- DOI: https://doi.org/10.1134/S2070048218030067
- ID: 202303
Cite item
Abstract
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.
About the authors
A. N. Kanatnikov
Bauman Moscow State Technical University; Institute for Systems Analysis
Author for correspondence.
Email: mathmod@bmstu.ru
Russian Federation, Moscow, 105005; Moscow, 117312
W. Liu
Bauman Moscow State Technical University
Email: mathmod@bmstu.ru
Russian Federation, Moscow, 105005
S. B. Tkachev
Bauman Moscow State Technical University; Institute for Systems Analysis
Email: mathmod@bmstu.ru
Russian Federation, Moscow, 105005; Moscow, 117312