A novel fuzzy control algorithm for three-dimensional AUV path planning based on sonar model

摘要

A novel fuzzy control method is presented for AUV (Autonomous underwater vehicles) path planning in both static and dynamic three-dimensional environment. First, on the basis of the forward looking sonar model, the virtual acceleration and velocity of AUV in both horizontal and vertical plane can be gotten through the fuzzy system. Then the velocity synthesis approach is applied to generate the real control variables in the body-fixed frame. In addition, a fuzzy-inference system with an accelerate/break (A/B) module is developed for real-time navigation, which enables AUV to avoid dynamic obstacles automatically. Finally, simulation results indicate the effectiveness and feasibility of the proposed approach.

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