A UAV route tracking algorithm based on the previewing point and fuzzy PID control

摘要

Route tracking is a key task for unmanned aerial vehicle (UAV). In this paper, we propose an algorithm by using a strategy of previewing point and fuzzy PID control to track the programmed route. We first calculate the deviation of distance in the side and the deviation of angle in each step and then adopt fuzzy PID algorithm according to these two deviations. Compared with the fuzzy control or the PID control method, the proposed algorithm shows a better performance in the overshoot, transient process and disturbance.