A Fuzzy Rule Based Docking Procedure for Two Moving Autonomous Underwater Vehicles

Author

Rae, G.J.S. ; Smith, S.M. ; Anderson, D.T. ; Shein, A.M.

Author_Institution

Advanced Marine Systems Group, Department of Ocean Engineering, Florida Atlantic University, Boca Raton, Fl 33431, (407) 367-3804. e-mail: graeme@transquest.oe.fau.edu

fYear

1993

fDate

2-4 June 1993

Firstpage

580

Lastpage

584

Abstract

A fuzzy logic control system is described which allows an Autonomous Underwater Vehicle (AUV) to safely dock with another moving umderwater vehicle. The fuzzy logic controller´s rulebase recursively drives the docking vehicle towards intermediate fuzzy targets that will put the vehicle in an increasingly better position from which docking is more achievable. A six degree of freedom non-linear model of the Ocean Voyager dynamics is used to test the performance of an AUV under fuzzy control. The imaginary docking collar is fixed to a simple, moving model of a 688 Los Angeles Class submarine. Docking is then attempted from any position around the submarine. Models of uncertainties in vehicle position sensing turbulence and hull suction effects are also included.

Keywords

Control systems; Fuzzy control; Fuzzy logic; Mobile robots; Oceans; Remotely operated vehicles; Underwater vehicles; Vehicle driving; Vehicle dynamics; Vehicle safety;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1993

Conference_Location

San Francisco, CA, USA

Print_ISBN

0-7803-0860-3

Type

conf

Filename

4792923