(It's spelled "flea". Flee is what many people want to do when given a problem like this one.)
The motion happens in a plane, which can be taken as the x-y plane, with y-axis in the vertical dircn. So, you don't need 6 eqns. Suppose the initial speed is u (your V0), making an angle 'b' with the horizontal. Then you can derive the eqn of the parabola in terms of u and b. It's simpler to deal with projectile motion this way.
The flea also wants to expend the least energy, which means that the initial KE (1/2)mu^2 is least, which means u^2 is least, given the other conditions.
The other conditions are:
i) it must clear the height of 2R
ii) it must not collide with the log.
First you should derive the eqn of the parabola, that is, the path of the flea.