NAVIGATION

Figure above illustrates the path (the blue curve) of the quad-rotor under the guidance of the navigation subsystem. The yellow lines shows the path the UAV was supposed to fly along, from Home to Waypoint 1 and then back to waypoint 2 which is close to Home. During the flight, the obstacle was detected, which is shown in orange in the figure. It can be observed that the quad-rotor flied along a path avoiding the obstacle and finally reached Waypoint 1.

The graphical representation above showed two main functions of the navigation subsystem, waypoint navigation and obstacle avoidance. The capabilities and performance of the subsystem are listed below:

l) This subsystem can guide the quad-rotor from its current location to a designated waypoint with a minimum speed of 0.5m/s.

2) If the obstacle is detected by the perception subsystem, the navigation subsystem can guide the quad-rotor to avoid the obstacle and then fly to the target waypoint.

3) The quad-rotor can avoid the obstacle while flying at a maximum speed of 2m/s.