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This paper presents a method to enable a UAV in autonomous flight along a desired path to follow it backwards when a strong headwind prevents the vehicle from proceeding forward. The main purpose of the reverse path following in this study is to return to a mission quickly when the wind becomes weaker. When the nonlinear path following guidance law is used, there are two reference points available in the path following. One of the two points is selected considering a flight direction for calculating a straight-line distance(L) from the vehicle to the point for the path following. An initial heading angle with respect to the wind direction determines whether the reverse path following is feasible or not at the time of the wind is generated. The result of the proposed method based on kinematic model in this study is verified through simulations implemented in Matlab.

Backward Path Following Under a Strong Headwind for UAV