Fuzzy Logic Unmanned Air Vehicle Motion Planning

Table 3

Control solution parameters.

Parameter	Symbol	Calculation
Distance traversed	D	∑^𝑇exec𝑘=0(𝑥[𝑘+1]−𝑥[𝑘])^2+(𝑦[𝑘+1]−𝑦[𝑘])^2
Control effort	C	(1/𝑇exec)∑^𝑇exec𝑘=0𝜔(𝑘)^2
Failure rate	F	# of failures/300
Obstacle area	OA	Area of obstacles (km^2)/12.25 (km^2)
Optimality	J	𝐷pf/𝐷𝑜 𝐷flc/𝐷𝑜