Fuzzy logic control in autonomous ROV navigation

Author

Dai, Ju ; Zhao, Xiaoguang ; Tan Min

Author_Institution

Shandong Univ. of Sci. & Technol., Jinan, China

Volume

3

fYear

2002

fDate

28-31 Oct. 2002

Firstpage

1566

Abstract

In current mobile robotics research, the development of techniques for autonomous navigation constitutes one of the major trends. In this paper, we discuss how fuzzy logic has been used in underwater robot ROV (Remotely Operated Vehicles) to control autonomous navigation. A method, which represents the states of ROV and local environmental information in which the ROV move in 3D space under a multi-fuzzy condition, is proposed, and a three-layer fuzzy controller is built based on ROV navigation behavior. The method is validated in 3D space simulation. The use of fuzzy logic results in smooth motion control, robust performance in sonar data and principle integration between different layers of control.

Keywords

computerised navigation; fuzzy control; mobile robots; remotely operated vehicles; sonar tracking; underwater vehicles; 3D space simulation; autonomous ROV navigation; autonomous navigation control; fuzzy logic control; local environmental information; mobile robotics; multi-fuzzy condition; remotely operated vehicles; robust performance; smooth motion control; sonar data; sonar sensors; three-layer fuzzy controller; underwater robot; Fuzzy control; Fuzzy logic; Mobile robots; Motion control; Orbital robotics; Remotely operated vehicles; Robust control; Sonar navigation; Space vehicles; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering

Print_ISBN

0-7803-7490-8

Type

conf

DOI

10.1109/TENCON.2002.1182629

Filename

1182629