Path generation and integrated guidance and control of a micro air vehicle

In this paper, we consider the problem of generating a feasible path connecting two waypoints in a three dimensional space with specified heading and flight path angles for a fixed wing micro air vehicle (MAV). The algorithm is based on simple geometric construction and can be used for generating paths for in flight waypoints. The guidance law used here is a modified version of the PN guidance law. Due to the strong coupling between the lateral and longitudinal dynamics and low actuator bandwidth, an integrated framework for guidance and control is also developed.