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Small Unmanned Aircraft by Timothy W. McLain, Randal W. Beard

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11

Path Manager

In Chapter 10 we developed guidance strategies for following straight-line paths and circular orbits. The objective of this chapter is to describe two simple strategies that combine straight-line paths and orbits to synthesize general classes of paths that are useful for autonomous operation of MAVs. In section 11.1, we show how the straight-line and orbit guidance strategies can be used to follow a series of waypoints. In section 11.2, the straight-line and orbit guidance strategies are used to synthesize Dubins paths, which for constant-altitude, constant-velocity vehicles with turning constraints, are time-optimal paths between two configurations. In reference to the architectures shown in figures 1.1 and 1.2, this chapter ...

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