3 Three-dimensional nonlinear path-following guidance system and method based on differential geometry

摘要

A three-dimensional nonlinear path following derivation system and method based on the derivative of a curve is disclosed. A three-dimensional nonlinear path following guidance system according to an embodiment of the present invention is a system for deriving a path following guidance that guides a moving object to follow a target path. The system includes a control for acquiring the position and velocity of the moving object to be controlled as control target information A target information obtaining unit; A closest point calculating unit for calculating a closest point corresponding to a position of the moving object with respect to the target path; A target path characteristic calculation unit for calculating a differential geometry characteristic with respect to the target path; An induction command generator for obtaining a forward look-up vector calculated as a front main time and a radial distance based on the control subject information, the nearest point information, and the differential geometric characteristics of the target path and generating an induction command given by acceleration, ; And a movement controller for controlling the movement of the moving object according to the guidance command.