Abstract
A novel fuzzy control method is presented for AUV (Autonomous underwater vehicles) path planning in three-dimensional environment. On the basis of the forward looking sonar model, the virtual acceleration of AUV in both horizontal and vertical plane can be gotten through the fuzzy system. Surge and heave velocity of AUV are calculated respectively and the synthetic velocity is obtained. Finally, simulation results illustrate the effectiveness and feasibility of the proposed approach.
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Acknowledgments
This project is supported by the National Natural Science Foundation of China (51075257), Research Fund of Ministry Transport of China (2011-329-810-440) and the Project of Excellent Academic Leaders of Shanghai (11XD1402500).
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Jiang, L., Zhu, D. (2013). Three-Dimensional Path Planning for AUV Based on Fuzzy Control. In: Sun, Z., Deng, Z. (eds) Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 254. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38524-7_4
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DOI: https://doi.org/10.1007/978-3-642-38524-7_4
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