Fuzzy Logic Unmanned Air Vehicle Motion Planning

Table 1

Advantages and disadvantages of several, common path planning techniques.

Visibility graphs	Voronoi method	Approx. cell decomp.	Artificial potential fields	Fuzzy logic
Optimal	XX
Complex obstacles			XX	X	XX
Higher dimensions			XX	XX	XX
Computable online				XX	XX
Uncertainty		X	X	XX	XX
Finds impossibilities	XX	XX
Ease to implement				XX	XX