The paper presents the development and the simulation results of a GPS-based waypoints Fuzzy Guidance System (FGS). Waypoints are described in a 5-dimensional space: position in 3-dimensions plus desired crossing heading and velocity. The aircraft is assumed to be autopiloted in velocity, heading and flight path angle. The FGS is based on three standard Takagi-Sugeno fuzzy controllers that generate separately velocity, heading and flight path angle references for the autopilots. Simulation results show that, under the fuzzy guidance, the aircraft correctly crosses all waypoints in the specified sequential order. The FGS handles a non-flyable waypoints set as well, driving the aircraft on flyable trajectories that try to cross the waypoints at the prescribed altitude and with prescribed heading.
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