Guidance and Navigation of Mobile and Flying Robot Using Fuzzy Control

Abstract This paper presents the 3-D guidance and navigation of mobile/flying robot. A 3-D local trajectory planner has been developed using fuzzy logic. The guidance and navigation has been done in the presence of static and dynamic obstacles. The trajectory planning has been performed using kinematics of the robot. Robot's dynamics has been included indirectly by imposing certain restrictions, such as attitude rate, acceleration and velocity. The planner has essentially two geometric modes and three dynamic loops of operation. All the decision making, using fuzzy logic controller does trajectory tracking and tracing obstacles. The results of 2-D and 3-D simulations are shown.