Topic
Guidance system
About: Guidance system is a research topic. Over the lifetime, 4282 publications have been published within this topic receiving 45964 citations.
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TL;DR: In this paper, a modified version of a well known line-of-sight (LOS) guidance algorithm for path-following is presented, which employs a time-varying equation for the lookahead distance which depends on the cross-track error.
84 citations
18 Sep 2005
TL;DR: In this article, a nonlinear, model-based velocity and attitude controller, which depends fully on the guidance system reference signals in order to fulfil the guidance-based path following task objectives, is proposed for the purpose of controlling both fully actuated and underactuated AUVs.
Abstract: This paper addresses the problem of path following for autonomous underwater vehicles (AUVs) by utilizing a novel guidance-based approach. Termed guidance-based path following, the proposed approach is equally applicable for sea, land and air vehicles. This relates to the fact that the core guidance laws are developed at an ideal, dynamics-independent level, entailing generally valid laws uninfluenced by the particularities of any specific dynamics case. The laws can subsequently be tailored to specific target systems like AUVs. A nonlinear, model-based velocity and attitude controller, which depends fully on the guidance system reference signals in order to fulfil the guidance-based path following task objectives, is proposed for the purpose of controlling both fully actuated and underactuated AUVs. The resulting guidance and control scheme renders all regular paths feasible, and simulation results successfully demonstrate its capability.
84 citations
TL;DR: The paper illustrates the performance of the autonomous guidance system in a virtual reality environment (SYNTHIA) and in a real scenario achieving the proposed goal: to move autonomously from a starting point to a final point in a comfortable way.
83 citations
Patent•
17 Nov 2000
TL;DR: In this article, a communication route guidance system provides exchange of data between an information center and each of a plurality of mobile units such as vehicles, where the information center has the latest road data and searches it to prepare recommended route guidance data in response to a request from the mobile unit.
Abstract: A communication route guidance system provides exchange of data between an information center and each of a plurality of mobile units such as vehicles. The information center has the latest road data and searches it to prepare recommended route guidance data in response to a request from the mobile unit. The reccommended route guidance data is divided into a plurality of data segments, each usable as an independent guidance instruction in the mobile unit. The mobile unit has stored therein road data similar to the road data in the information center and determines if data communication with the information center is available. In a case where the mobile unit can not communicate with the information center, the mobile unit prepares route guidance based on the road data stored in the mobile unit. It thereby becomes possible to guide the user even in the case that the mobile unit can not communicate with the information center. Even in a case where a communication link is disrupted during transmission of route guidance data to the mobile unit, the mobile unit can effectively prepare whole route guidance data in combination with already-received route guidance data and additionally prepared route guidance data by reference to the road data stored in the mobile unit because the already received route guidance data is structured to be usable independently.
81 citations
TL;DR: Simulation-based results as well as actual flight test results that demonstrate the operation of the guidance, navigation, and control algorithms on a real Unmanned Aerial Vehicle (UAV) are presented.
Abstract: The Flight Control System 20 (FCS20) is a compact, self-contained Guidance, Navigation, and Control system that has recently been developed to enable advanced autonomous behavior in a wide range of Unmanned Aerial Vehicles (UAVs). The FCS20 uses a floating point Digital Signal Processor (DSP) for high level serial processing, a Field Programmable Gate Array (FPGA) for low level parallel processing, and GPS and Micro Electro Mechanical Systems (MEMS) sensors. In addition to guidance, navigation, and control functions, the FCS20 is capable of supporting advanced algorithms such as automated reasoning, artificial vision, and multi-vehicle interaction. The unique contribution of this paper is that it gives a complete overview of the FCS20 GN&C system, including computing, communications, and information aspects. Computing aspects of the FCS20 include details about the design process, hardware components, and board configurations, and specifications. Communications aspects of the FCS20 include descriptions of internal and external dataflow.The information section describes the FCS20 Operating System (OS), the Support Vehicle Interface Library (SVIL) software, the navigation Extended Kalman Filter, and the neural network based adaptive controller. Finally, simulation-based results as well as actual flight test results that demonstrate the operation of the guidance, navigation, and control algorithms on a real Unmanned Aerial Vehicle (UAV) are presented.
81 citations