A Robust Control Algorithm for Path Tracking by an Oceanographic Unmanned Aeronautical Vehicle

We present a path tracking algorithm for navigation of an oceanographic unmanned aeronautical vehicle. Aircraft bank angle is used to maintain desired closing speeds along and normal to the desired track. The algorithm is capable of tracking linear and circular path segments. Simulated flights under near gale force winds suggest the algorithm is sufficiently robust for practical navigation during off-shore research. The algorithm's simplicity permits a high frequency update by the autopilot's low-power processor.