A Real-Time UAV Route Planning Algorithm Based on Fuzzy Logic Techniques

Following the people´s behavior in an unknown environment, this paper presents a real-time route-planning algorithm to guide the UAVs to pass through an unknown environment. The route´s cost is defined as the weighted sum of the two metrics: the cost of the route´s distance and the hazard cost. To make the route´s cost minimum, the optimal way from the current place to the next place can be found. During the process of computing, the cost of the route´s distance is represented as the distance´s effective shorten to the target, the hazard cost is defined as the hazard´s integral along the line. To assign weights to the costs components for the route´s distance and the hazard, account for the circumstances and requirements of the mission, such as wind speed, arrive time, fuzzy if-then rules is used to extract and formulate a human operator´s experience. Finally the simulation results were presented to demonstrate the efficiency of the algorithm