Navigation Functionalities for an Autonomous UAV Helicopter
Navigation Functionalities for an Autonomous UAV Helicopter
Navigation Functionalities for an Autonomous UAV Helicopter
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4.5. CONCLUSIONS 55<br />
Vel [m/s]<br />
20<br />
18<br />
16<br />
14<br />
12<br />
10<br />
8<br />
6<br />
4<br />
2<br />
Flight tested<br />
Target<br />
0<br />
930 935 940 945 950 955<br />
Time [s]<br />
960 965 970 975<br />
Figure 4.13: Target velocity <strong>an</strong>d actual helicopter velocity.<br />
have been inherited <strong>an</strong>d have shaped the development of the PFCM. For<br />
example, the fact that a geometric segment was precomputed <strong>an</strong>d given<br />
to the control system without taking into account the dynamic constraints<br />
of the helicopter, has led to the development of the feedback algorithm to<br />
update the control point on the reference path.