An obstacle avoiding control strategy for autonomous underwater vehicle

Rongxin Cui; Demin Xu; Meng Shen

doi:10.1109/WCICA.2006.1713770

An obstacle avoiding control strategy for autonomous underwater vehicle

Rongxin Cui, Demin Xu, Meng Shen

School of Marine Science and Technology

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

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.

Original language	English
Title of host publication	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Pages	9149-9153
Number of pages	5
DOIs	https://doi.org/10.1109/WCICA.2006.1713770
State	Published - 2006
Event	6th World Congress on Intelligent Control and Automation, WCICA 2006 - Dalian, China Duration: 21 Jun 2006 → 23 Jun 2006

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Volume	2

Conference

Conference	6th World Congress on Intelligent Control and Automation, WCICA 2006
Country/Territory	China
City	Dalian
Period	21/06/06 → 23/06/06

Keywords

Autonomous underwater vehicle
Fuzzy inference system
Obstacle avoiding control
Variable structure

Access to Document

10.1109/WCICA.2006.1713770

Cite this

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title = "An obstacle avoiding control strategy for autonomous underwater vehicle",

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 = "Autonomous underwater vehicle, Fuzzy inference system, Obstacle avoiding control, Variable structure",

author = "Rongxin Cui and Demin Xu and Meng Shen",

year = "2006",

doi = "10.1109/WCICA.2006.1713770",

language = "英语",

isbn = "1424403324",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

pages = "9149--9153",

booktitle = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

note = "6th World Congress on Intelligent Control and Automation, WCICA 2006 ; Conference date: 21-06-2006 Through 23-06-2006",

}

Cui, R, Xu, D & Shen, M 2006, An obstacle avoiding control strategy for autonomous underwater vehicle. in Proceedings of the World Congress on Intelligent Control and Automation (WCICA)., 1713770, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), vol. 2, pp. 9149-9153, 6th World Congress on Intelligent Control and Automation, WCICA 2006, Dalian, China, 21/06/06. https://doi.org/10.1109/WCICA.2006.1713770

An obstacle avoiding control strategy for autonomous underwater vehicle. / Cui, Rongxin; Xu, Demin; Shen, Meng.
Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 2006. p. 9149-9153 1713770 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Xu, Demin

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PY - 2006

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N2 - 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.

AB - 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.

KW - Autonomous underwater vehicle

KW - Fuzzy inference system

KW - Obstacle avoiding control

KW - Variable structure

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An obstacle avoiding control strategy for autonomous underwater vehicle

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Keywords

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