Fuzzy Logic Unmanned Air Vehicle Motion Planning

Sabo, Chelsea; Cohen, Kelly

doi:10.1155/2012/989051

Cited by 31 publications

(16 citation statements)

References 28 publications

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“…When carrying out the implementation of the proposed fuzzy controller at an early stage, the major disadvantage of an intelligent control for motion planning has been found to concur with the investigation of Sabo et al [18] that the UAV's tendency to get caught in local minima. In fuzzy control, it is similar to suffering from left-right confusion, especially at very huge or symmetrical, curved-in obstacles.…”

Section: Limitationssupporting

confidence: 73%

A Heuristic Cascading Fuzzy Logic Approach to Reactive Navigation for Uav

Chak

Varatharajoo

2014

IIUMEJ

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The capability of navigating Unmanned Aerial Vehicles (UAVs) safely in unknown terrain offers huge potential for wider applications in non-segregated airspace. Flying in non-segregated airspace present a risk of collision with static obstacles (e.g., towers, power lines) and moving obstacles (e.g., aircraft, balloons). In this work, we propose a heuristic cascading fuzzy logic control strategy to solve for the Conflict Detection and Resolution (CD&R) problem, in which the control strategy is comprised of two cascading modules. The first one is Obstacle Avoidance control and the latter is Path Tracking control. Simulation results show that the proposed architecture effectively resolves the conflicts and achieve rapid movement towards the target waypoint.ABSTRAK: Keupayaan mengemudi Kenderaan Udara Tanpa Pemandu (UAV) dengan selamat di kawasan yang tidak diketahui menawarkan potensi yang besar untuk aplikasi yang lebih luas dalam ruang udara yang tidak terasing. Terbang di ruang udara yang tidak terasing menimbulkan risiko perlanggaran dengan halangan statik (contohnya, menara, talian kuasa) dan halangan bergerak (contohnya, pesawat udara, belon). Dalam kajian ini, kami mencadangkan satu strategi heuristik kawalan logik kabur yang melata untuk menyelesaikan masalah Pengesanan Konflik dan Penyelesaian (CD&R), di mana strategi kawalan yang terdiri daripada dua modul melata. Hasil simulasi menunjukkan bahawa seni bina yang dicadangkan berjaya menyelesaikan konflik dan mencapai penerbangan pesat ke arah titik laluan sasaran.KEYWORDS: fuzzy logic; motion planning; obstacle avoidance; path tracking; reactive navigation; UAV

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Section: Limitationssupporting

confidence: 73%

A Heuristic Cascading Fuzzy Logic Approach to Reactive Navigation for Uav

Chak

Varatharajoo

2014

IIUMEJ

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“…The control system will adjust pitch, speed, and angle to reach In our method, UAV's altitude will either increase to fly over a semi-obstacle, or it will be kept constant to fly around full-obstacles 1 . In our simulations the UAV always moves forward.…”

Section: Description Of the Methodsmentioning

confidence: 99%

“…Some of the approaches based on fuzzy logic employ fuzzy controllers [15], [1] for path planning. Other fuzzy logic-based methods are capable of doing not only path planning but completely controlling UAV's movement in 3D spaces [2].…”

Section: Previous Related Workmentioning

confidence: 99%

A hybrid 3D path planning method for UAVs

Ortiz-Arroyo

2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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“…In 1973 he published a paper on the analysis of complex systems and decision processes, and then in 1979 he reported (1981 paper) on possibility theory and soft data analysis [25].Within a fuzzy logic based controller, inputs are converted into outputs in three important steps: fuzzification, decision making logic, and defuzzification. The methodology for two dimensional motion planning of a UAV using fuzzy logic is presented in [26].In this paper, the fuzzy inference system takes information in real time about the target location and obstacles within the sensing range of the sensors. The outputs consist of changes in heading angle and speed.…”

Section: Fuzzy Logicmentioning

confidence: 99%

Analysis and Comparison of Clothoid and Dubins Algorithms for UAV Trajectory Generation

Nuaimi¹

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The differences between two types of pose based UAV path generation methods clothoid and Dubins are analyzed in this thesis. The Dubins path is a combination of circular arcs and straight line segments; therefore its curvature will exhibit sudden jumps between constant values. The resulting path will have a minimum length if turns are performed at the minimum possible turn radius. The clothoid path consists of a similar combination of arcs and segments but the difference is that the clothoid arcs have a linearly variable curvature and are generated based on Fresnel integrals. Geometrically, the generation of the clothoid arc starts with a large curvature that decreases to zero. The clothoid path results are longer than the Dubins path between the same two poses and for the same minimum turn radius. These two algorithms are the focus of this research because of their geometrical simplicity, flexibility, and low computational requirements. The comparison between clothoid and Dubins algorithms relies on extensive simulation results collected using an ad-hoc developed automated data acquisition tool within the WVU UAV simulation environment. The model of a small jet engine UAV has been used for this purpose. The experimental design considers several primary factors, such as different trajectory tracking control laws, normal and abnormal flight conditions, relative configuration of poses, and wind and turbulence. A total of five different controllers have been considered, three conventional with fixed parameters and two adaptive. The abnormal flight conditions include locked or damaged actuators (stabilator, aileron, or rudder) and sensor bias affecting roll, pitch, or yaw rate gyros that are used in the feedback control loop. The relative configuration of consecutive poses is considered in terms of heading (required turn angle) and relative location of start and end points (position quadrant). Wind and turbulence effects were analyzed for different wind speed and direction and several levels of turbulence severity. The evaluation and comparison of the two path generation algorithms are performed based on generated and actual path length and tracking performance assessed in terms of tracking errors and control activity. Although continuous position and velocity are ensured, the Dubins path yields discontinuous changes in path curvature and hence in commanded lateral accelerations at the transition points between the circular arcs and straight segments. The simulation results show that this generally leads to increased trajectory tracking errors, longer actual paths, and more intense control surface activity. The gradual (linear) change in clothoid curvature yields a continuous change in commanded lateral accelerations with general positive effects on the overall UAV performance based on the metrics considered. The simulation results show general similar trends for all factors considered. As a result, it may be concluded that, due to the continuous change in commanded lateral acceleration, the clothoid path generation ...

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Fuzzy Logic Unmanned Air Vehicle Motion Planning

Cited by 31 publications

References 28 publications

A Heuristic Cascading Fuzzy Logic Approach to Reactive Navigation for Uav

A Heuristic Cascading Fuzzy Logic Approach to Reactive Navigation for Uav

A hybrid 3D path planning method for UAVs

Analysis and Comparison of Clothoid and Dubins Algorithms for UAV Trajectory Generation

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