Title :
An Obstacle Avoiding Control Strategy for Autonomous Underwater Vehicle
Author :
Cui, Rongxin ; Xu, Demin ; Shen, Meng
Author_Institution :
Inst. of Underwater Vehicles, Northwestern Polytech. Univ., Xi´´an
Abstract :
An obstacle avoiding control strategy for autonomous underwater vehicle (AUV) was proposed. According to the task of AUV, a variable structure control law was proposed for path following firstly. When AUV track the desired path, taking a looking forward sonar as the measuring instrument, a fuzzy inference system (FIS) was designed to derive the obstacle-avoiding angle based on the position relationship between AUV and the obstacle. Then, take the obstacle-avoiding angle as heading error of the path following control law. The proposed FIS and the path following control law construct an integrated obstacle avoiding control strategy. It was easy to be implemented. Simulation results show the efficiency of the strategy
Keywords :
collision avoidance; fuzzy reasoning; mobile robots; motion control; remotely operated vehicles; underwater vehicles; variable structure systems; AUV; autonomous underwater vehicle; fuzzy inference system; obstacle avoiding control; path following control law; variable structure control; Control systems; Error correction; Fuzzy control; Fuzzy systems; Instruments; Position measurement; Sonar measurements; Underwater tracking; Underwater vehicles; Yttrium; Autonomous Underwater Vehicle; Fuzzy inference system; Obstacle avoiding control; Variable structure;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713770
