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1、AFrameworkforFuzzyLogicBasedUAVNavigationandControlL.Doitsidis,K.P.ValavanisN.C.Tsourveloudis,M.KontitsisDept.ofCSEE,CRASARDept.ofProductionEngineeringandManagementUniversityofSouthFloridaTechnicalUniversityofCreteTampa,FL33620Chania73100,Crete,GreeceAbstract—Atwom
2、odulefuzzylogiccontrollerthatalsoincludesadditionalerror-calculatingboxisalsodesignedforfuzzyaseparateerrorcalculatingboxisderivedforautonomouscontrollerparametertuningandflightadjustmentpurposes.navigationandcontrolofsmallmanned–unmannedaerialvehiclesdemonstrating
3、abilitytoflythroughspecifiedwaypointsTheproposedapproachismodularandgeneral;itisina3-Denvironmentrepeatedly,performtrajectorytracking,applicabletoalltypesofaerialvehicleswithminorcontroland,duplicate/followanothervehicle’strajectory.AMATLABmoduleadjustments,provide
4、dthattherespectivedynamicstandardconfigurationenvironmentandtheAerosimmodelisknownoritmaybederived.Further,thederivedAeronauticalSimulationBlockSetareutilizedforsimulationframeworkisalsosuitableforVTOLnavigationandcontrol.studies,presentedthroughavisualizationinter
5、face;resultsHowever,asafirststep,onlytheclassofsmallmannedaerialillustratecontrollerperformanceandpotential.vehiclesisconsideredinthispaper.Keywords:UAV,autonomousnavigation,fuzzy-logiccontrol.Therestofthissectionpresentsrelatedresearch,whileSectionIIdiscussesdetai
6、lsoftheproposedfuzzylogiccontroller.SectionIIIpresentsthesimulationenvironmentandI.INTRODUCTIONdescribesthemodulesdevelopedinMATLAB,essentialforThepaperobjectiveistodemonstratefuzzy-logicbasedsimulationstudies.SectionIVincludesresults,whileSectionVautonomousnavigat
7、ionandcontrolofsmallmanned–concludesthepaper.unmannedaerialvehiclesasshowninFig.1.GivenanaerialA.RelatedResearchvehicledynamicmodel,atwo-modulefuzzylogiccontrollerisderivedthatallowsanysuchvehicle:i)toflythroughspecifiedThereexistseveralapproachesrelatedtonavigatio
8、nandwaypointsina3-Denvironmentrepeatedly,ii)toperformcontrolofUAVs;representativeresearchincludesneuraltrajectorytracking,and,iii)toduplicate/fol
