Comparison of a Fuzzy Logic Controller to a Potential Field Controller for Real-Time UAV Navigation

摘要

In this paper, the development of a fuzzy logic based real-time Unmanned Aerial Vehicle (UAV) path planning and obstacle avoidance scheme is presented. The capabilities of the fuzzy logic based scheme are compared with another real-time planner, the Potential Field Controller (PFC), which is a simple method for online path planning and is therefore used frequently. However, it has several fundamental drawbacks and limitations which make it impractical for use in non-holonomic Dubins-type vehicles, such as UAVs. The fuzzy logic control scheme proposed in this paper is simple to implement and functions in much the same way as the traditional PFC, except with better performance to situations which the traditional PFC is not capable of overcoming.