NDLI: Path Tracking and Obstacles Avoidance of UAVs

Content Provider	IEEE Xplore Digital Library
Author	Tao Dong Liao, X.H. Zhang, R. Zhao Sun Song, Y.D.
Copyright Year	2005
Description	Author affiliation: Dept. of Electr. & Comput. Eng., North Carolina A&T State Univ., Greensboro, NC (Tao Dong; Liao, X.H.; Zhang, R.; Zhao Sun; Song, Y.D.)
Abstract	This paper addresses the problem of how to make a UAV track a given flight trajectory while at the same time avoid unexpected obstacle(s). If the information about the existence of the obstacle is known in advance, the problem can be readily solved by carefully pre-planning the desired flight path for the vehicle. However, obstacle(s) might appear unexpectedly in practical applications, as such the pre-planned flight path might become "misleading" to the vehicle if no correcting action is taken. Furthermore, obstacles might be of any shape (not necessarily a point mass) and might be either inert or hostile (including seeking a collision). How to avoid unexpected, irregular, even moving obstacles while maintaining close path tracking of UAV is an interesting yet challenging problem. In this paper, we explore fuzzy logic based approach to path tracking and obstacle avoidance. We consider the case that obstacles are either still or moving and appear along the predetermined flight path unexpectedly. By using suitable sensors we identify the relative distance between the vehicle and the obstacle and make timely adjustment to the pre-planned flight path. Fuzzy logic control algorithms are developed to achieve close path tracking while avoiding obstacles. Simulation studies on multiple obstacles with various shapes are conducted and the effectiveness of the proposed method is verified
Sponsorship	IEEE IEEE Neural Networks Soc
Starting Page	43
Ending Page	48
File Size	1884572
Page Count	6
File Format	PDF
ISBN	0780391594
DOI	10.1109/FUZZY.2005.1452366
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-05-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Unmanned aerial vehicles Fuzzy logic Shape Trajectory Military aircraft Navigation Fuzzy systems Sun Path planning Stability
Content Type	Text
Resource Type	Article

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