UAV path following in windy urban environments

Mangal Kothari, Ian Postlethwaite, Da-Wei Gu

    Research output: Contribution to journalArticlepeer-review

    50 Citations (Scopus)


    This paper considers UAV path following in cluttered environments under windy conditions. Unstructured wind patterns in cluttered environments can make path following difficult resulting in high errors and possibly collisions with buildings. Combining a pursuit guidance law philosophy with a line-of-sight guidance law, we develop a novel guidance law that has low computational complexity and can track straight line paths, circular paths, a combination of both and waypaths accurately in the presence of wind blowing as high as fifty percent of the UAV's air speed. Performance of the guidance law is demonstrated through numerical simulations.
    Original languageEnglish
    Pages (from-to)1013-1028
    JournalJournal of Intelligent and Robotic Systems
    Issue number3-4
    Publication statusPublished - Jun 2014


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