Autonomous vehicles: from flight control to mission planning using fuzzy logic techniques

This paper presents a hybrid hardware/software platform that supports higher control and mission planning algorithms for an autonomous helicopter. The emphasis is on the use of intelligent fuzzy logic based techniques and an object-modeling approach to account for unmodeled dynamics, to address uncertainty issues and to provide a flexible platform for development purposes and an operator interface. Fuzzy logic routines ore implemented in such critical vehicle modules as the route planner, the fuzzy navigator, the fault-tolerant tools and the flight controller