Abstract
A path planning algorithm for autonomous underwater robots in diving plane is presented. Using fuzzy inference system (FIS), the desired depth is derived according to the depth and the distance to bottom. The computer simulations proved that this path planning algorithm can successfully control the vehicle to avoid diving too deep/low or crashing on the bottom, and keep the proper height to improve the measurement accuracy of the Doppler velocity log (DVL).
| Original language | English |
|---|---|
| Pages (from-to) | 806-807+811 |
| Journal | Xitong Fangzhen Xuebao / Journal of System Simulation |
| Volume | 17 |
| Issue number | 4 |
| State | Published - Apr 2005 |
Keywords
- Autonomous underwater robots
- Diving plane
- Fuzzy inference system
- Path planning