Path Coordinates in a 3D Path Following Problem

被引：11
|
作者：
Kanatnikov A.N. [1 ,2 ]
Liu W. [1 ]
Tkachev S.B. [1 ,2 ]
机构：
[1] Bauman Moscow State Technical University, Moscow
[2] Institute for Systems Analysis, Russian Academy of Sciences, Moscow
来源：
Mathematical Models and Computer Simulations | 2018年 / 10卷 / 3期
基金：
俄罗斯基础研究基金会;
关键词：
adapted frame; path coordinates; path following; stabilized control;
D O I：
10.1134/S2070048218030067
中图分类号：
学科分类号：
摘要：
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. © 2018, Pleiades Publishing, Ltd.
引用
收藏
页码：265 / 275
页数：10
相关论文
共 50 条
  • [1] Rectilinear Path Following in 3D Space
    Hota, Sikha
    Ghose, Debasish
    [J]. TRENDS IN INTELLIGENT ROBOTICS, 2010, 103 : 210 - 217
  • [2] 3D Path Following with no Bounds on the Path Curvature through Surface Intersection
    Sgorbissa, Antonio
    Zaccaria, Renato
    [J]. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 4029 - 4035
  • [3] Sliding mode guidance for 3D path following
    Amundsen, Herman B.
    Kelasidi, Eleni
    Fore, Martin
    [J]. 2023 EUROPEAN CONTROL CONFERENCE, ECC, 2023,
  • [4] 3D path following for autonomous underwater vehicle
    Encarnaçao, P
    Pascoal, A
    [J]. PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, 2000, : 2977 - 2982
  • [5] 3D Path independent integral for thermoelastic and magnetostriction problem
    Bhushan, Awani
    Panda, S. K.
    Singh, P. K.
    Kartheek, P.
    Kumar, R.
    Mittal, Y.
    [J]. MECHANICS RESEARCH COMMUNICATIONS, 2018, 92 : 15 - 20
  • [6] 3D PATH FOLLOWING AND TRACKING FOR AN INSPECTION CLASS ROV
    Arnesen, Bent O.
    Lekkas, Anastasios M.
    Schjolberg, Ingrid
    [J]. PROCEEDINGS OF THE ASME 36TH INTERNATIONAL CONFERENCE ON OCEAN, OFFSHORE AND ARCTIC ENGINEERING, 2017, VOL 7A, 2017,
  • [7] Path following control in 3D using a vector field
    Yao, Weijia
    Cao, Ming
    [J]. AUTOMATICA, 2020, 117
  • [8] A 3D Path Following Control Scheme for Robot Manipulators
    Wen, Yalun
    Pagilla, Prabhakar
    [J]. IFAC PAPERSONLINE, 2020, 53 (02): : 9968 - 9973
  • [9] 3D Path Following with Remote Center of Motion Constraints
    Dahroug, Bassem
    Tamadazte, Brahim
    Andreff, Nicolas
    [J]. ICINCO: PROCEEDINGS OF THE 13TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 1, 2016, : 84 - 91
  • [10] Estimation of 3D path of braids by bundle path diagram
    Tada, M
    Nakai, A
    Hamada, H
    [J]. SEN-I GAKKAISHI, 2003, 59 (06) : 243 - 246
12345