Pre-planning guided fuzzy reactive controller applied in unmanned Helicopter's navigation

A hybird method of navigation for unmanned helicopter (UMH) is proposed based on the sparse A* search (SAS) algorithm and the fuzzy reactive controller (FRC). The environment that UMH travels in is analyzed and modeled in a grid-based way. SAS is applied to plan a path based on the understanding of pre-known obstacles and threats. When UAV travels along the pre-planned path, the FRC, which employs Mamdani fuzzy methodology and pre-planning guidance, monitors the flight process and react in real-time to keep flight safety. Simulations show that this approach can find out the global optimal path and realize dynamic navigation for UMH.