TY - GEN
T1 - A searching technique for obstacle-avoidance of autonomous underwater vehicles by using the self-tuning fuzzy controller
AU - Lin, Yu-Hsien
AU - Fang, Ming-Chung
AU - Chang, Hui-Hua
PY - 2014/1/1
Y1 - 2014/1/1
N2 - This study develops a heuristic searching technique for obstacle-avoidance of autonomous underwater vehicles (AUVs) in varying ocean environments by using the self-tuning fuzzy controller. The corresponding hydrodynamic coefficients for the AUV are obtained by the test of Planar Motion Mechanism (PMM), which serves as the important data inputs for the control system. Subsequently, the self-tuning fuzzy controller would be adopted to command the propulsion of AUVs. The function of obstacle-avoidance is based on the underwater image detection method with the BK triangle subproduct of fuzzy relations which can evaluate the safety and remoteness of the candidate routes and the successive optimal strategic routing can then be selected. In the present simulations, the current effect is used to investigate the maneuvering performance of obstacle-avoidance. Eventually, the present study indicates that the self-tuning fuzzy controller, combined with the image detection technique based on BK triangle sub-product of fuzzy relations, is verified to be a useful searching technique for obstacle-avoidance of AUVs in depth variation.
AB - This study develops a heuristic searching technique for obstacle-avoidance of autonomous underwater vehicles (AUVs) in varying ocean environments by using the self-tuning fuzzy controller. The corresponding hydrodynamic coefficients for the AUV are obtained by the test of Planar Motion Mechanism (PMM), which serves as the important data inputs for the control system. Subsequently, the self-tuning fuzzy controller would be adopted to command the propulsion of AUVs. The function of obstacle-avoidance is based on the underwater image detection method with the BK triangle subproduct of fuzzy relations which can evaluate the safety and remoteness of the candidate routes and the successive optimal strategic routing can then be selected. In the present simulations, the current effect is used to investigate the maneuvering performance of obstacle-avoidance. Eventually, the present study indicates that the self-tuning fuzzy controller, combined with the image detection technique based on BK triangle sub-product of fuzzy relations, is verified to be a useful searching technique for obstacle-avoidance of AUVs in depth variation.
UR - http://www.scopus.com/inward/record.url?scp=84911164254&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911164254&partnerID=8YFLogxK
U2 - 10.1115/OMAE2014-24387
DO - 10.1115/OMAE2014-24387
M3 - Conference contribution
AN - SCOPUS:84911164254
T3 - Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE
BT - Ocean Space Utilization; Professor Emeritus J. Randolph Paulling Honoring Symposium on Ocean Technology
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2014
Y2 - 8 June 2014 through 13 June 2014
ER -