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.