A Method of Path Planning and Control Strategy for Carrier-Based UAV in Return Section

Abstract

Abstract-Compared with conventional path planning method, the path planning for carrier based UAVs has its own characteristics, especially in its return section. Firstly, the fuel carried with the UAV is limited, so that the UAV is expected to return to the carrier as soon as possible after the task is finished. Secondly, the carrier, which is moving at a certain speed, constrains that the UAV's velocity must be in the same direction with that of the carrier before landing. Thirdly, due to the limited landing space on the carrier, the lateral error between the UAV and the carrier should be minimized. Considering all above, this paper proposes a path planning method aiming at the carrierbased UAV in its return section, and to ensure the UAV to fly along the planned path accurately and with stable attitude, control strategies are designed. To avoid unnecessary detours, the velocity of both the UAV and the carrier is taken into consideration and the estimated landing window is updated when either of the velocity changes. The simulation results show the path and control strategy proposed in the paper are effective.