Comments (2)
So we can basically follow headings, which is pretty close to following waypoint sequences. The question becomes where to put the waypoints and how to make sense of them.
This paper describes a path-following algorithm (and also constructs optimum paths for viewing/tracking objects with pan/tilt camera):
http://www.aa.washington.edu/research/afsl/publications/rysdyk2003uav.pdf
This one deals with ground-tracking and wind and waypoint sequences:
https://www.aa.washington.edu/research/afsl/publications/osborne2005waypoint.pdf
There's also this Frenet-Serret thing people talk about.
http://www.disam.upm.es/~barrientos/Publications_files/ICRA%202010%20Backstepping_FST.pdf
http://en.wikipedia.org/wiki/Frenet%E2%80%93Serret_formulas
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