A searching technique for obstacle-avoidance of autonomous underwater vehicles by using the self-tuning fuzzy controller

研究成果: Conference contribution

2 引文 (Scopus)

摘要

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.

原文English
主出版物標題Ocean Space Utilization; Professor Emeritus J. Randolph Paulling Honoring Symposium on Ocean Technology
發行者American Society of Mechanical Engineers (ASME)
ISBN(電子)9780791845493
DOIs
出版狀態Published - 2014 一月 1
事件ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2014 - San Francisco, United States
持續時間: 2014 六月 82014 六月 13

出版系列

名字Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE
7

Other

OtherASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2014
國家United States
城市San Francisco
期間14-06-0814-06-13

指紋

Autonomous underwater vehicles
Collision avoidance
Tuning
Controllers
Propulsion
Hydrodynamics
Control systems

All Science Journal Classification (ASJC) codes

  • Ocean Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering

引用此文

Lin, Y-H., Fang, M-C., & Chang, H-H. (2014). A searching technique for obstacle-avoidance of autonomous underwater vehicles by using the self-tuning fuzzy controller. 於 Ocean Space Utilization; Professor Emeritus J. Randolph Paulling Honoring Symposium on Ocean Technology (Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE; 卷 7). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/OMAE2014-24387
Lin, Yu-Hsien ; Fang, Ming-Chung ; Chang, Hui-Hua. / A searching technique for obstacle-avoidance of autonomous underwater vehicles by using the self-tuning fuzzy controller. Ocean Space Utilization; Professor Emeritus J. Randolph Paulling Honoring Symposium on Ocean Technology. American Society of Mechanical Engineers (ASME), 2014. (Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE).
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Lin, Y-H, Fang, M-C & Chang, H-H 2014, A searching technique for obstacle-avoidance of autonomous underwater vehicles by using the self-tuning fuzzy controller. 於 Ocean Space Utilization; Professor Emeritus J. Randolph Paulling Honoring Symposium on Ocean Technology. Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE, 卷 7, American Society of Mechanical Engineers (ASME), ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2014, San Francisco, United States, 14-06-08. https://doi.org/10.1115/OMAE2014-24387

A searching technique for obstacle-avoidance of autonomous underwater vehicles by using the self-tuning fuzzy controller. / Lin, Yu-Hsien; Fang, Ming-Chung; Chang, Hui-Hua.

Ocean Space Utilization; Professor Emeritus J. Randolph Paulling Honoring Symposium on Ocean Technology. American Society of Mechanical Engineers (ASME), 2014. (Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE; 卷 7).

研究成果: Conference contribution

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Lin Y-H, Fang M-C, Chang H-H. A searching technique for obstacle-avoidance of autonomous underwater vehicles by using the self-tuning fuzzy controller. 於 Ocean Space Utilization; Professor Emeritus J. Randolph Paulling Honoring Symposium on Ocean Technology. American Society of Mechanical Engineers (ASME). 2014. (Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE). https://doi.org/10.1115/OMAE2014-24387