Tensor Field guidance for time-based waypoint arrival of UAVs by 4D trajectory generation

This paper looks at incorporating time information into a waypoint trajectory-generation technique known as vector field guidance to give a 4D trajectory generator henceforth known as tensor field guidance. The time-based information is local in that it is relative from waypoint to waypoint. We envisage that a higher-level controller or an air traffic management system automates the waypoint generation, while our approach optimizes the travel time between waypoints. We present results from simulations, showing an increase in accuracy of ldquodistance to gordquo estimates over traditional ldquoas-the-crow-fliesrdquo yielding less error in time-based arrivals.