Optimized online guidance algorithm for the fixed-wing flying robot

The classical nonlinear guidance algorithm for a fixed-wing flying robot has the shortcoming of the unchangeable guidance length. To improve the algorithm, a novel guidance method is proposed based on the guidance point optimized online. The kinetic equations and the classical nonlinear guidance algorithm are introduced. The effects of the guidance length to the tracking performance are analyzed. A modified guidance algorithm is designed, and the procedure is described. The simulation experiments show that the proposed method can track complex trajectories excellently because of the compromise of the stability and the precision.