5. Path-Following Guidance

  1. Antonios Tsourdos,
  2. Brian White and
  3. Madhavan Shanmugavel

Published Online: 8 NOV 2010

DOI: 10.1002/9780470974636.ch5

Cooperative Path Planning of Unmanned Aerial Vehicles

Cooperative Path Planning of Unmanned Aerial Vehicles

How to Cite

Tsourdos, A., White, B. and Shanmugavel, M. (2010) Path-Following Guidance, in Cooperative Path Planning of Unmanned Aerial Vehicles, John Wiley & Sons, Ltd, Chichester, UK. doi: 10.1002/9780470974636.ch5

Author Information

  1. Cranfield Defence and Security, Cranfield University, UK

Publication History

  1. Published Online: 8 NOV 2010
  2. Published Print: 19 NOV 2010

ISBN Information

Print ISBN: 9780470741290

Online ISBN: 9780470974636



  • path-following guidance;
  • design of paths, complex environments - UAVs coordinating search and rendezvous activities;
  • distance error, orthogonal projection - of UAV's position onto path;
  • guidance algorithm, making UAV track straight paths and curved paths;
  • linear guidance algorithm;
  • nonlinear dynamic inversion guidance;
  • dynamic obstacle avoidance guidance;
  • basic geometry for collision of UAV and aircraft;
  • simple Lyapunov candidate function V;
  • multiple conflicts, possibility of more than two collisions - with other vehicles


This chapter contains sections titled:

  • Path Following the Dubins Path

  • Linear Guidance Algorithm

  • Nonlinear Dynamic Inversion Guidance

  • Dynamic Obstacle Avoidance Guidance

  • References