Fuzzy Logic Unmanned Air Vehicle Motion Planning.pdfVIP

Hindawi Publishing Corporation Advances in Fuzzy Systems Volume 2012, Article ID 989051, 14 pages doi:10.1155/2012/989051 Research Article Fuzzy Logic Unmanned Air Vehicle Motion Planning Chelsea Sabo and Kelly Cohen Department of Aerospace Engineering, University of Cincinnati, Cincinnati, OH 45221, USA Correspondence should be addressed to Chelsea Sabo, sabocm@ Received 6 February 2012; Revised 4 June 2012; Accepted 4 June 2012 Academic Editor: Rustom M. Mamlook Copyright © 2012 C. Sabo and K. Cohen. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. There are a variety of scenarios in which the mission objectives rely on an unmanned aerial vehicle (UAV) being capable of maneu- vering in an environment containing obstacles in which there is little prior knowledge of the surroundings. With an appropriate dynamic motion planning algorithm, UAVs would be able to maneuver in any unknown environment towards a target in real time. This paper presents a methodology for two-dimensional motion planning of a UAV using fuzzy logic. The fuzzy inference system takes information in real time about obstacles (if within the agent’s sensing range) and target location and outputs a change in heading angle and speed. The FL controller was validated, and Monte Carlo testing was completed to evaluate the performance. Not only was the path traversed by the UAV often the exact path computed using an optimal method, the low failure rate makes the fuzzy logic controller (FLC) feasible for exploration. The FLC showed only a total of 3% failure rate, whereas an artificial potential field (APF) solution, a commonly