Reactive Obstacle Avoidance for Unmanned Helicopter Using Fuzzy Control

Nowadays off-line path planning technology is widely used to keep autonomous unmanned aeriel vehicle(UAV) safety and reach the given target efficiently at the same time. But in unknown, dynamic or changeable environments, a. real-Lime reactive obstacle avoidance method is necessary. This paper presents an obstacle avoidance method using fuzzy control for unmanned helicopter(UMH), a kind of UAV with unique characters. The flight process is made up of several mutually exclusive fight modes. The environment is detected in flight, and the desicion is made simultinously considering the current flight mode and environment detection. Finally the fuzzy controller is applied to an precisely :identified UMH model to test the full closed-loop controller. Additonal strategies are used to avoid local loitering and make the fuzzy contrller keep on working.