Simultaneous planning and control of a large variety of unmanned aerialvehicles (UAVs) is tackled using the harmonic potential field (HPF) approach. Adense reference velocity field generated from the gradient of an HPF is used toregulate the velocity of the UAV concerned in a manner that would propel theUAV to a target point while enforcing the constraints on behavior that were apriori encoded in the reference field. The regulation process is carried-outusing a novel and simple concept called the: virtual velocity attractor (VVA).The combined effect of the HPF gradient and the VVA is found able to yield anefficient, easy to implement, well-behaved and provably-correctcontext-sensitive control action that suits a wide variety of UAVs. Theapproach is developed and basic proofs of correctness are provided along withsimulation results.
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