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

Author

Vachtsevanos, G. ; Kim, W. ; Al-Hasan, S. ; Rufus, F. ; Simon, M. ; Shrage, D. ; Prasad, J.V.R.

Author_Institution

Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

Volume

2

fYear

1997

fDate

2-4 Jul 1997

Firstpage

977

Abstract

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

Keywords

aircraft control; fuzzy control; fuzzy logic; helicopters; mobile robots; planning (artificial intelligence); robot dynamics; autonomous helicopter; autonomous vehicles; fault-tolerant tools; flexible platform; flight control; flight controller; fuzzy navigator; hybrid hardware/software platform; intelligent fuzzy logic based techniques; mission planning; mobile robot; object-modeling approach; operator interface; route planner; Aerospace control; Fuzzy control; Fuzzy logic; Hardware; Helicopters; Mobile robots; Remotely operated vehicles; Software algorithms; Uncertainty; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Digital Signal Processing Proceedings, 1997. DSP 97., 1997 13th International Conference on

Conference_Location

Santorini

Print_ISBN

0-7803-4137-6

Type

conf

DOI

10.1109/ICDSP.1997.628527

Filename

628527