Modified vector field and nonlinear guidance law for low-cost UAV path following

Purpose: The purpose of this paper is to present a high accuracy path following method for low-cost fixed-wing UAVs. Design/methodology/approach: The original vector field (VF) algorithm is condensed. A spatial integration mechanism is added to the existing VF and nonlinear guidance law, aiming to decrease steady-state cross-track-error and cope with long-term disturbance. Findings: Numerical simulations show the proposed method could diminish steady-state cross-track-error effectively. Test flights show the proposed method is applicable on low-cost fixed-wing UAVs. Practical implications: The path following accuracy shown in simulations and test flights indicates the proposed method could be deployed in scenarios including inflight rendezvous, formation, trafficway take-off and landing. Originality/value: This paper provides an improved high-accuracy path following method for low-cost fixed-wing UAVs.