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algoritm for following waypoints

Posted by Easystar on March 13, 2010 at 3:03pm

Hi!

I have decided to develope my own uav system for my easystar.. One thing I wanted to ask you about is the algoritm for following waypoints.

If the plane knows it's current position and heading (GPRMC string), and is supposed to steer for it's next waypoint. What sort of algoritm is suitable for a pic micro to handle?

Could I use the formula for calulating the smallest angle between two vectors in some way? What is the easiest way to do it? Tests will be done with a rc boat first =)

 

regards / Christian

 

 

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Replies

  • Developer
    Ryan Beall March 13, 2010 at 3:36pm
    There is a difference between "tracking" and "homing" Most applications you would prefer tracking on a course to the waypoint. Usually people use vector field navigation for this. Its looks complicated but it boils down to only a few equations. When navigating over a spherical surface like the earth you should also take that into account. Great circle routes are the shortest distances to fly in that case. So really a two part problem. You have to first determine the track you want to fly, and then you have to establish a vector field that will put you on that track.

    Homing will work also but you will get very random results depending upon winds, currents, etc...

  • 3D Robotics
    Chris Anderson March 13, 2010 at 3:08pm
    You use atan(). If you want the full algorithm you can get from the ArduPilot code. Or, if you're using a PIC, get it from the UAVDevBoard code.
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