Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles

Ningning Zhao; Demin Xu; Jian Gao; Weisheng Yan

doi:10.1007/978-3-540-88513-9_14

Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles

Ningning Zhao, Demin Xu, Jian Gao, Weisheng Yan

School of Marine Science and Technology

Northwestern Polytechnical University Xian

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

1 Scopus citations

Abstract

This paper proposes a fuzzy behavioral navigation system with a two-layered hierarchical architecture to address the bottom collision avoidance problem of autonomous underwater vehicles (AUVs) with depth-keeping mission. In the path planning module, depth keeping and collision avoidance behaviors and a fuzzy arbiter are included. And the fuzzy logic control is used in the pitch motion control module. The main advantage of the proposed approach is its simplicity, modularity, expandability, and applicability. Simulation studies are provided on a cruising type AUV to test the performances.

Original language	English
Title of host publication	Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
Publisher	Springer Verlag
Pages	122-130
Number of pages	9
Edition	PART 1
ISBN (Print)	3540885129, 9783540885122
DOIs	https://doi.org/10.1007/978-3-540-88513-9_14
State	Published - 2008
Event	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 - Wuhan, China Duration: 15 Oct 2008 → 17 Oct 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	5314 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
Country/Territory	China
City	Wuhan
Period	15/10/08 → 17/10/08

Keywords

Autonomous underwater vehicle
Bottom collision avoidance
Fuzzy behavioral navigation

Access to Document

10.1007/978-3-540-88513-9_14

Cite this

Zhao, N., Xu, D., Gao, J., & Yan, W. (2008). Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles. In Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings (PART 1 ed., pp. 122-130). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5314 LNAI, No. PART 1). Springer Verlag. https://doi.org/10.1007/978-3-540-88513-9_14

Zhao, Ningning ; Xu, Demin ; Gao, Jian et al. / Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles. Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1. ed. Springer Verlag, 2008. pp. 122-130 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

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title = "Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles",

abstract = "This paper proposes a fuzzy behavioral navigation system with a two-layered hierarchical architecture to address the bottom collision avoidance problem of autonomous underwater vehicles (AUVs) with depth-keeping mission. In the path planning module, depth keeping and collision avoidance behaviors and a fuzzy arbiter are included. And the fuzzy logic control is used in the pitch motion control module. The main advantage of the proposed approach is its simplicity, modularity, expandability, and applicability. Simulation studies are provided on a cruising type AUV to test the performances.",

keywords = "Autonomous underwater vehicle, Bottom collision avoidance, Fuzzy behavioral navigation",

author = "Ningning Zhao and Demin Xu and Jian Gao and Weisheng Yan",

year = "2008",

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booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",

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Zhao, N, Xu, D, Gao, J & Yan, W 2008, Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles. in Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 5314 LNAI, Springer Verlag, pp. 122-130, 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008, Wuhan, China, 15/10/08. https://doi.org/10.1007/978-3-540-88513-9_14

Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles. / Zhao, Ningning; Xu, Demin; Gao, Jian et al.
Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1. ed. Springer Verlag, 2008. p. 122-130 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5314 LNAI, No. PART 1).

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

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N2 - This paper proposes a fuzzy behavioral navigation system with a two-layered hierarchical architecture to address the bottom collision avoidance problem of autonomous underwater vehicles (AUVs) with depth-keeping mission. In the path planning module, depth keeping and collision avoidance behaviors and a fuzzy arbiter are included. And the fuzzy logic control is used in the pitch motion control module. The main advantage of the proposed approach is its simplicity, modularity, expandability, and applicability. Simulation studies are provided on a cruising type AUV to test the performances.

AB - This paper proposes a fuzzy behavioral navigation system with a two-layered hierarchical architecture to address the bottom collision avoidance problem of autonomous underwater vehicles (AUVs) with depth-keeping mission. In the path planning module, depth keeping and collision avoidance behaviors and a fuzzy arbiter are included. And the fuzzy logic control is used in the pitch motion control module. The main advantage of the proposed approach is its simplicity, modularity, expandability, and applicability. Simulation studies are provided on a cruising type AUV to test the performances.

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Zhao N, Xu D, Gao J, Yan W. Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles. In Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 ed. Springer Verlag. 2008. p. 122-130. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-540-88513-9_14

Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles

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