One of the simplest path-following algorithm is Carrot Chasing Algorithm (CCA). CCA exploits the virtual target (VTP) and make the UAV chase this VTP by updating the
heading angle direction
The carrot chasing algorithm (CCA) for straight line can be applied, even the path is a nonlinear curve, by simply discretizing the path into waypoints. After obtaining all the waypoints, CCA can be executed for each section of the path as shown in figure below.
CCA path following implementation scheme |
The algorithm can be summarized below. This has been coded in the main while loop in CCA_Straight.m
Carrot-Chasing-Algorithm-CCA/CCA_Straight.m
Lines 36 to 82 in ce40316
CCA for straight-line path following with |
For CCA, the design parameters include the look-ahead distance
The effect of different design parameters on the path following trajectory |
[1] Bhadani, R. (2020). Path Planning of Unmanned System using Carrot-chasing Algorithm. arXiv preprint arXiv:2012.13227.
[2] X. Jin, W. Mei and Y. Zhaolong, "Path Following Control for Unmanned Aerial Vehicle Based on Carrot Chasing Algorithm and PLOS," 2020 IEEE International Conference on Artificial Intelligence and Information Systems (ICAIIS), Dalian, China, 2020, pp. 571-576, doi: 10.1109/ICAIIS49377.2020.9194843.