近年來，旋翼型無人飛行載具 (Unmanned Helicopter)普遍受到各國重視，廣泛應用於各種軍事與民生領域，功能也趨多元化。本文著重於旋翼型無人飛行載具之導航與導引系統整合，此整合系統包含兩部分：飛行路徑規劃系統 (Flight Path Planning System, FPPS)與飛行控制系統 (Flight Control System, FCS)。飛行路徑規劃系統使用A-Star (A*)路徑規劃演算法，針對旋翼型無人飛行載具展出即時飛行路徑規劃之測試平台，可分別規劃出最短、最適當之飛行路線。此飛行路徑規劃系統可藉由設立禁止飛行區域 (forbidden zone)，避免旋翼型無人飛行載具穿越危險區域；使用多重解析演算法 (Multi-Resolution Scheme)減少運算時間；另外，使用平滑路徑演算法 (Path Smoothing Method)減少飛行路線中的轉彎點，提升飛行品質。
另一方面，飛行控制系統是由以模糊理論 (fuzzy logic)為基礎之模糊判斷系統 (Fuzzy Inference Systems, FISs)建構而成，藉由判斷駕駛員的飛行經驗與知識，運算出此旋翼型無人飛行載具之控制量。此整合系統利用規劃出的飛行路徑導引旋翼型無人飛行載具完成飛行任務；並且使用模擬飛行軟體X-Plane與運算軟體MATLAB，即時監控控制系統穩定性與飛行狀態。最後，使用多種數位高度地圖 (Digital Elevation Model, DEM)驗證此整合系統之效能。

In recent years, the unmanned helicopter plays more important role in different countries; it is used in many aspects of military and civil applications broadly. This thesis focuses on the design of an integrated system for navigation and guidance of an unmanned helicopter. The integrated system is constructed of two systems: the Flight Path Planning System (FPPS) and the Flight Control System (FCS). The A-Star (A*) algorithm is utilized to develop a FPPS, and the platform could compute a short-least and adaptive flight path for different flight conditions. The FPPS could add a forbidden zone to inhibit the unmanned helicopter from flying into a dangerous area. The Multi-Resolution Scheme is used for reducing the computation time. In addition, the Path Smoothing Methods are applied to improve the flight path quality.
Meanwhile, the FCS is composed of the Fuzzy Inference Systems (FISs) which is based on the fuzzy logic. The controller could operate the unmanned helicopter without the dynamic model, but the expert knowledge and experience are necessary for constructing a FIS. Therefore, the integrated system of the FPPS and the FCS is developed to navigate and guide the unmanned helicopter to the mission destination. Among these, the integrated system is implemented by coupling the flight simulation software – X-Plane and the computing software – MATLAB to perform the simulation by a 3-D animation in real time. Finally, the integrated system is demonstrated to control the unmanned helicopter in various terrains of Digital Elevation Model (DEM).

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