| Citation: | TAO J，CAO Y F. UAV obstacle avoidance path-following method under time-varying wind disturbance at low altitudes[J]. Journal of Beijing University of Aeronautics and Astronautics，2025，51（1）：175-182 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0956
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An unmanned aerial vehicle path-following method under unknown time-varying wind disturbance was designed to solve the problem of unmanned aerial vehicle obstacle avoidance path-following at low altitudes. Firstly, a kinematic model of the unmanned aerial vehicle in the two-dimensional plane was given to complete the mathematical modeling of the obstacle avoidance path-following; secondly, a vector field method was used to design the tracking control law for the desired path of the Bessel curve under the unknown time-varying wind disturbance condition, and a ground speed estimator was designed for measuring the ground speed of the unmanned aerial vehicle under the unknown time-varying wind disturbance, and the Liapunov stability of the path-following was analyzed. Finally, a simulation was carried out to verify the Bessel curve’s expected path-following under unknown time-varying wind disturbance. The simulation experiments demonstrate that the designed unmanned aerial vehicle path-following method can achieve stable path-following under the unknown time-varying wind disturbance.
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