Collision-free vector field guidance and MPC for a fixed-wing UAV
Leonardo A. A. Pereira Arthur H. D. Nunes Adriano M. C. Rezende Vinicius M. Gonçalves Guilherme V. Raffo Luciano C. A. Pimenta Leonardo A. A. Pereira Arthur H. D. Nunes Adriano M. C. Rezende Vinicius M. Gonçalves Guilherme V. Raffo Luciano C. A. Pimenta
The present work focuses on the development of an efficient path controller to guide a fixed-wing UAV (Unmanned Aerial Vehicle) to follow a closed curve and avoid unknown dynamic obstacles. Our strategy is composed of two layers: a top level layer responsible for guidance and a lower level layer responsible for tracking the references given by the top level. To solve the guidance problem, we propo...