Mission Planning and Flight Control: Meeting the Challenge with Intelligent Techniques
George Vachtsevanos*, Wonoh Kim*, Sami A. Al-Hasan*, Freeman Rufus Jr.*, Miguel Simon*, Daniel P. Schrage** and J. V. R. Prasad**
*School of Electrical and Computer Engineering
**School of Aerospace Engineering Georgia Institute of Technology Atlanta, GA 30332, U.S.A.
This paper presents a hybrid hardware/software platform that supports flight 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 are implemented in such critical vehicle modules as the route planner the fuzzy navigator the fault-tolerant tools and the flight controller.