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

航海学院

Northwestern Polytechnical University Xian

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
出版商	Springer Verlag
页	122-130
页数	9
版本	PART 1
ISBN（印刷版）	3540885129, 9783540885122
DOI	https://doi.org/10.1007/978-3-540-88513-9_14
出版状态	已出版 - 2008
活动	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 - Wuhan, 中国期限: 15 10月 2008 → 17 10月 2008

出版系列

姓名	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
编号	PART 1
卷	5314 LNAI
ISSN（印刷版）	0302-9743
ISSN（电子版）	1611-3349

会议

会议	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
国家/地区	中国
市	Wuhan
时期	15/10/08 → 17/10/08

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

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链接到 Scopus 的出版物

引用此

Zhao, N., Xu, D., Gao, J., & Yan, W. (2008). Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles. 在 Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings (PART 1 编辑, 页码 122-130). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 5314 LNAI, 号码 PART 1). Springer Verlag. https://doi.org/10.1007/978-3-540-88513-9_14

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

@inproceedings{f4b0ebcb370745dfbb8456f0ead164a3,

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",

doi = "10.1007/978-3-540-88513-9_14",

language = "英语",

isbn = "3540885129",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

number = "PART 1",

pages = "122--130",

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

edition = "PART 1",

note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",

}

Zhao, N, Xu, D, Gao, J & Yan, W 2008, Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles. 在 Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 编辑, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 号码 PART 1, 卷 5314 LNAI, Springer Verlag, 页码 122-130, 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008, Wuhan, 中国, 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 等.
Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1. 编辑 Springer Verlag, 2008. 页码 122-130 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 5314 LNAI, 号码 PART 1).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles

AU - Zhao, Ningning

AU - Xu, Demin

AU - Gao, Jian

AU - Yan, Weisheng

PY - 2008

Y1 - 2008

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.

KW - Autonomous underwater vehicle

KW - Bottom collision avoidance

KW - Fuzzy behavioral navigation

UR - http://www.scopus.com/inward/record.url?scp=56749091109&partnerID=8YFLogxK

U2 - 10.1007/978-3-540-88513-9_14

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

M3 - 会议稿件

AN - SCOPUS:56749091109

SN - 3540885129

SN - 9783540885122

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 122

EP - 130

BT - Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings

PB - Springer Verlag

T2 - 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008

Y2 - 15 October 2008 through 17 October 2008

ER -

Zhao N, Xu D, Gao J, Yan W. Fuzzy behavioral navigation for bottom collision avoidance of autonomous underwater vehicles. 在 Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 编辑 Springer Verlag. 2008. 页码 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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