A HEURISTIC CASCADING FUZZY LOGIC APPROACH TO REACTIVE NAVIGATION FOR UAV

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 presents 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.