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

Article type: Research Article

Authors: Sun, Bing | Zhu, Daqi | Jiang, Lisha | Yang, Simon X.

Affiliations: Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Shanghai, China | The Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ON, Canada

Note: [] Corresponding author. Daqi Zhu, Laboratory of Underwater Vehicles and Intelligent Systems, Shanghai Maritime University, Haigang Avenue 1550, Shanghai 200135, China. E-mail: [email protected]

Abstract: 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.

Keywords: AUV, fuzzy controller, velocity synthesis approach, accelerate/break module, three-dimensional path planning

DOI: 10.3233/IFS-130957

Journal: Journal of Intelligent & Fuzzy Systems, vol. 26, no. 6, pp. 2913-2926, 2014