Fuzzy Logic Unmanned Air Vehicle Motion Planning

Table 2

UAV and simulation parameters.

Parameter	Value
𝑟𝑠	50 m
𝑟𝑓	25 m
𝑣max	10 m/s
𝑣min	3 m/s
𝑎max	3 m/s^2
𝜃max	30^°
𝜔max	25 rpm or 2.618^°/s
𝜏𝜃	0.4 secs
𝜏𝑣	4 secs
T	0.05 secs
𝑇exec	Time step, k, that last target is serviced