Fuzzy Logic for Flight Control II: Fuzzy Logic Approach to Path Tracking and Obstacles Avoidance of UAVs

2007 ◽  
pp. 223-235 ◽  
Author(s):  
Zhao Sun ◽  
Tao Dong ◽  
Xiaohong Liao ◽  
Ran Zhang ◽  
David Y. Song
Keyword(s):  
Fuzzy Logic ◽  
Flight Control ◽  
Path Tracking ◽  
Fuzzy Logic Approach ◽  
Logic Approach

scholarly journals A HEURISTIC CASCADING FUZZY LOGIC APPROACH TO REACTIVE NAVIGATION FOR UAV

2014 ◽  
Vol 15 (2) ◽  
Author(s):  
Yew-Chung Chak ◽  
Renuganth Varatharajoo
Keyword(s):  
Fuzzy Logic ◽  
Obstacle Avoidance ◽  
Control Strategy ◽  
Tracking Control ◽  
Path Tracking ◽  
Reactive Navigation ◽  
Logic Control ◽  
Fuzzy Logic Approach ◽  
Avoidance Control ◽  
Logic Approach

ABSTRACT: 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

scholarly journals Unmanned Aerial Vehicles Motion Control with Fuzzy Tuning of Cascaded-PID Gains

Machines ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 12
Author(s):  
Fabio A. A. Andrade ◽  
Ihannah P. Guedes ◽  
Guilherme F. Carvalho ◽  
Alessandro R. L. Zachi ◽  
Diego B. Haddad ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Flight Control ◽  
Control Unit ◽  
Fine Tuning ◽  
Motion Controller ◽  
Tuning Method ◽  
Fuzzy Logic Approach ◽  
Aerial Vehicle ◽  
Logic Approach ◽  
Online Tuning

One of the main challenges of maneuvering an Unmanned Aerial Vehicle (UAV) to keep a stabilized flight is dealing with its fast and highly coupled nonlinear dynamics. There are several solutions in the literature, but most of them require fine-tuning of the parameters. In order to avoid the exhaustive tuning procedures, this work employs a Fuzzy Logic strategy for online tuning of the PID gains of the UAV motion controller. A Cascaded-PID scheme is proposed, in which velocity commands are calculated and sent to the flight control unit from a given target desired position (waypoint). Therefore, the flight control unit is responsible for the lower control loop. The main advantage of the proposed method is that it can be applied to any UAV without the need of its formal mathematical model. Robot Operating System (ROS) is used to integrate the proposed system and the flight control unit. The solution was evaluated through flight tests and simulations, which were conducted using Unreal Engine 4 with the Microsoft AirSim plugin. In the simulations, the proposed method is compared with the traditional Ziegler-Nichols tuning method, another Fuzzy Logic approach, and the ArduPilot built-in PID controller. The simulation results show that the proposed method, compared to the ArduPilot controller, drives the UAV to reach the desired setpoint faster. When compared to Ziegler-Nichols and another different Fuzzy Logic approach, the proposed method demonstrates to provide a faster accommodation and yield smaller errors amplitudes.

Design of a Fuzzy Logic Approach for Optimization of Fracture Length in Hydrofracturing Technique

2013 ◽  
Vol 7 (5) ◽  
pp. 991
Author(s):  
B. Guruprasad ◽  
A. Ragupathy ◽  
T. S. Badrinarayanan ◽  
E. Sambath
Keyword(s):  
Fuzzy Logic ◽  
Fracture Length ◽  
Fuzzy Logic Approach ◽  
Logic Approach

A FUZZY LOGIC APPROACH FOR STRUCTURAL COMPARISON, RATING, AND FINDING DISTINCT INVERSIONS OF KINEMATIC CHAINS

2017 ◽  
Vol 12 (2) ◽  
pp. 16
Author(s):  
RAO V. SRINIVASA ◽  
RAO K. MALLIKARJUNA ◽  
RAO A.B. SRINIVASA ◽  
◽  
◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Structural Comparison ◽  
Kinematic Chains ◽  
Fuzzy Logic Approach ◽  
Logic Approach

Computing the Probability of Target Detection in Dyanmic Visual Scenes Containing Clutter Using Fuzzy Logic Approach

1998 ◽  
Author(s):  
Thomas Meitzler ◽  
Regina Kistner ◽  
Bill Pibil ◽  
Euijung Sohn ◽  
Darryl Bryk ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Target Detection ◽  
Fuzzy Logic Approach ◽  
Logic Approach ◽  
Visual Scenes
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