Process and device for guiding a mobile craft

摘要

A mobile craft is guided with respect to a trajectory. To guide the craft, the distance xtk is determined between the mobile craft and the point of orthogonal projection of the mobile craft on a segment of the trajectory. The angle tkae is determined between the direction of travel of the mobile craft and the direction at the point of orthogonal projection. A control value is computed for the lateral attitude from the distance and angle, two characteristic coefficients and a nominal control value. This control value is applied to the craft.