Design of Behavior-Based Modular Decision-Making Control System for Autonomous Underwater Vehicle

Autonomous underwater vehicle (AUV) has been widely used in marine exploration and military applications in the past decade. No matter which areas AUV applies in, its control system is the key of successfully completing the various tasks. In this paper a modular decision-making control system based on behaviors is proposed for AUV. The entire system is composed of two kinds of modules: Rational Behavior Module and Perceptual Behavior Module. A simulation example for obstacle avoidance behavior is established based on SIMULINK Fuzzy toolbox, simulation experiments show that proposed design method is effective.