A Waypoint-Based Guidance Algorithm for mini UAVs

A waypoint guidance algorithm for an autonomous Unmanned Aerial Vehicle (UAV) is described. The algorithm guides the aircraft along an assigned path defined by a series of waypoints and by a control of the cross track error, considering the nonlinear effects due to disturbances (i.e. wind) occured during the flight. PID controllers are implemented for the outer loop navigation and an adaptive controller is considered for the inner loop variables. Hardware in the loop simulations show the good performance of the guidance algorithm and the minimum required computational effort makes it suitable for small autopilots.