Vector field path following for small unmanned air vehicles

This paper presents a new method for unmanned aerial vehicle path following using vector fields to represent desired ground track headings to direct the vehicle onto the desired path. The key feature of this approach is that ground track heading error and lateral following error approach zero asymptotically even in the presence of constant wind disturbances. Methods for following straight-line and circular-orbit pathos, as well as combinations of straight lines and arcs, are presented. Experimental results validate the effectiveness of this path following approach for small air vehicles flying in high-wind conditions.