TY - GEN
T1 - An obstacle avoiding control strategy for autonomous underwater vehicle
AU - Cui, Rongxin
AU - Xu, Demin
AU - Shen, Meng
PY - 2006
Y1 - 2006
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
UR - https://www.scopus.com/pages/publications/34047223005
U2 - 10.1109/WCICA.2006.1713770
DO - 10.1109/WCICA.2006.1713770
M3 - 会议稿件
AN - SCOPUS:34047223005
SN - 1424403324
SN - 9781424403325
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 9149
EP - 9153
BT - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
T2 - 6th World Congress on Intelligent Control and Automation, WCICA 2006
Y2 - 21 June 2006 through 23 June 2006
ER -