Trajectory smoothing and transition management for a small autonomous helicopter

Abstract

Guidance of an autonomous helicopter requires transforming a predened flight schedule, described as a series of discrete points, in a continuous smooth trajectory. A smooth flight schedule reduces the control system effort and decreases transients originated by direction and flight mode changes. Differently from airplanes, helicopter flight cannot be described only by position changes but also special flight mode changes (e.g. takeoff to hover). Reduced transients and control effort are dependent on the continuity of the planned three dimensional path, smooth velocity transitions and adequate management of mode transitions.