Multi-Eye Guidance Method for UAVs Path Following

Improving upon L1 and L2+ guidance laws, this paper introduces a novel solution to the issue of overshoot and sudden acceleration changes in unmanned aerial vehicles (UAVs) during in complex missions (e.g. collision avoidance maneuvers) and/or when it is in tight turns. Nonlinear multi-eye guidance law tracks multiple reference points at once instead of single point tracking, introduced in L1 and L2+ guidance laws. Multi-eye tracking requires the aircraft follow multiple reference points, each at difference distances from the aircraft, which will allow UAVs to anticipate turns sooner with the farther reference points, while being kept stable with the shorter reference points. This method eliminates the need to use switching distance at corners when using to prevent overshoots. The results of this paper show that multi-eye guidance is a robust method giving UAVs capabilities to perform complex missions.