AUTONOMOUS UAV FUZZY LOGIC NAVIGATION AND OBSTACLE AVOIDANCE CONTROLLER

Towards Obstacle Avoidance and Autonomous UAV Operation

This paper presents the status and progress of the ongoing work directed towards the development and implementation of autonomous navigation algorithms for Micro Aerial Vehicles (MAV). The method proposed is founded on a mapping methodology, which is supported by a laser scan matching algorithm and virtual occupancy grid method. Navigation and path planning is performed by means of an extended ...

Stereo - Based Autonomous Navigation and Obstacle Avoidance ?

This paper presents a stereo vision-based autonomous navigation system using a GPS and a modified version of the VFH algorithm. In order to obtain a high-accuracy disparity map and meet the time constraints of the real time navigation system, this work proposes the use of a semi-global stereo method. By not suffering the same issues of the regularly used local stereo methods, the employed stere...

Autonomous robot obstacle avoidance using a fuzzy logic control scheme

Optimization of the Fuzzy Logic Controller for an Autonomous UAV

In this paper, we describe the optimization of membership functions in an application employing a hierarchical Fuzzy Logic Controller. The size of the rule base is made manageable by using a unique formulation, known as Combs method, to help control the problem of ‘exponential rule expansion’. The optimization is performed using a steady state genetic algorithm with a dynamic fitness function. ...

Fuzzy Obstacle Avoidance and Navigation for Omnidirectional Mobile Robots

The motion planning and control problem is a well-known problem in the field of robotics. The objective is to find collision-free trajectories for a robot, in static or dynamic environments containing some obstacles, between a start and a goal configuration. It has attracted much research in recent years. In this context the term control has a broad meaning that includes many different controls...