Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic

Figure 7

Comparison of the square path following with the methods FL_PFC and PFC. (a) The position compassion, (b) the distance compassion, (c) the parameter compassion, and (d) the inertial velocity .

(a)

(b)

(c)

(d)