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Reactive navigation of underwater mobile robot using ANFIS approach in a manifold manner

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Abstract

Learning and self-adaptation ability is highly required to be integrated in path planning algorithm for underwater robot during navigation through an unspecified underwater environment. High frequency oscillations during underwater motion are responsible for nonlinearities in dynamic behavior of underwater robot as well as uncertainties in hydrodynamic coefficients. Reactive behaviors of underwater robot are designed considering the position and orientation of both target and nearest obstacle from robot’s current position. Human like reasoning power and approximation based learning skill of neural based adaptive fuzzy inference system (ANFIS) has been found to be effective for underwater multivariable motion control. More than one ANFIS models are used here for achieving goal and obstacle avoidance while avoiding local minima situation in both horizontal and vertical plane of three dimensional workspace. An error gradient approach based on input-output training patterns for learning purpose has been promoted to spawn trajectory of underwater robot optimizing path length as well as time taken. The simulation and experimental results endorse sturdiness and viability of the proposed method in comparison with other navigational methodologies to negotiate with hectic conditions during motion of underwater mobile robot.

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Authors and Affiliations

  1. Robotics Lab, Department of Mechanical Engineering, Rourkela National Institute of Technology, Rourkela, 769008, India

    Shubhasri Kundu & Dayal R. Parhi

Authors
  1. Shubhasri Kundu
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  2. Dayal R. Parhi
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Correspondence to Shubhasri Kundu.

Additional information

Recommended by Associate Editor Min Tan

Shubhasri Kundu received the M.Tech. degree in mechanical engineering from National Institute of Technology Rourkela, India in 2011. She is currently a Ph.D. degree candidate from the same place.

Her research interest is mobile robot navigation in all terrain (surface and underwater) using AI based computational techniques.

ORCID iD: 0000-0002-2005-6752

Dayal R. Parhi received his first Ph.D. degree in mobile robotics from Cardiff School of Engineering, UK and second Ph.D. degree in vibration analysis of cracked structures from Sambalpur University, India. He is currently working as a professor in Department of Mechanical Engineering, National Institute of Technology Rourkela, India. He has 22 years of research and teaching experience.

His research interests include mobile robot navigation and vibration analysis using AI techniques.

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Kundu, S., Parhi, D.R. Reactive navigation of underwater mobile robot using ANFIS approach in a manifold manner. Int. J. Autom. Comput. 14, 307–320 (2017). https://doi.org/10.1007/s11633-016-0983-5

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  • DOI: https://doi.org/10.1007/s11633-016-0983-5

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