3-D guidance and navigation of mobile and flying robot using fuzzy logic

摘要

This paper presents the 3-D guidance and navigation of mobile/flying robot. A 3-D local trajectory planner has been developed using fuzzy logic. The trajectory planning has been performed using kinematics of the robot. Robots' dynamics has been included indirectly by imposing certain restrictions, These restrictions are related to attitude rate, acceleration and velocity. The planner has essentially two mode of operation: decision and, tracing when the controller is making the decision to follow path or trace the obstacle. Also, the fuzzy logic controller (FLC) has three different loops to control velocity, acceleration and attitude. The decision making, trajectory tracking, and tracing obstacles are all done by using the fuzzy logic controller. The results of2-D and 3-D simulations are shown.