Offine/online Optimum Routing of a UAV using Auxiliary Points

Abbas Fadavi, Ali Beheshti, Pedram Kermani


This paper presents a method to determine the route of a three-dimensional UAV. Three criteria; the height, the length of flight path and the unauthorized areas are used as the constraints and combined in a fuzzy function as the evaluation function. The article aimed to discover a minimum cost route from source to destination considering the constrains. In this paper a new searching method is proposed, with use of auxiliary points. The auxiliary point method iteratively divides a straight line to two shorter lines with less cost of evaluation function. Implementation results show that the proposed method dramatically decreases the calculations; meanwhile the ight route is sub-optimum.


evaluation; fuzzy systems; three-dimensional routing; UAV

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ISSN 2088-8708, e-ISSN 2722-2578