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 sub-product 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.
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ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering
June 8–13, 2014
San Francisco, California, USA
Conference Sponsors:
- Ocean, Offshore and Arctic Engineering Division
ISBN:
978-0-7918-4549-3
PROCEEDINGS PAPER
A Searching Technique for Obstacle-Avoidance of Autonomous Underwater Vehicles by Using the Self-Tuning Fuzzy Controller
Yu Hsien Lin,
Yu Hsien Lin
National Cheng Kung University, Tainan City, Taiwan
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Ming Chung Fang,
Ming Chung Fang
National Cheng Kung University, Tainan City, Taiwan
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Hui Hua Chang
Hui Hua Chang
National Cheng Kung University, Tainan City, Taiwan
Search for other works by this author on:
Yu Hsien Lin
National Cheng Kung University, Tainan City, Taiwan
Ming Chung Fang
National Cheng Kung University, Tainan City, Taiwan
Hui Hua Chang
National Cheng Kung University, Tainan City, Taiwan
Paper No:
OMAE2014-24387, V007T12A022; 8 pages
Published Online:
October 1, 2014
Citation
Lin, YH, Fang, MC, & Chang, HH. "A Searching Technique for Obstacle-Avoidance of Autonomous Underwater Vehicles by Using the Self-Tuning Fuzzy Controller." Proceedings of the ASME 2014 33rd International Conference on Ocean, Offshore and Arctic Engineering. Volume 7: Ocean Space Utilization; Professor Emeritus J. Randolph Paulling Honoring Symposium on Ocean Technology. San Francisco, California, USA. June 8–13, 2014. V007T12A022. ASME. https://doi.org/10.1115/OMAE2014-24387
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