Abstract
This paper presents a proportional navigation based method to control the arrival time and approach angle at the waypoint for a miniature aerial vehicle (MAV). The two constraints are simultaneously satisfied by a closed-form solution for the navigation gain. A two stage methodology is used where the initial phase orients the MAV to a desired feasible geometry for the second phase. Simulations are carried for different MAV initial conditions, with autopilot dynamics, and arrival angle and time constraints. The work presents a simple and robust methodology for the multi-constraint problem.
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