Unmanned underwater vehicle navigation and collision avoidance using fuzzy logic
College
Gokongwei College of Engineering
Department/Unit
Manufacturing Engineering and Management
Document Type
Conference Proceeding
Source Title
2013 IEEE/SICE International Symposium on System Integration, SII 2013
First Page
126
Last Page
131
Publication Date
1-1-2013
Abstract
Unmanned underwater vehicles (UUVs) have become an integral part in helping humans do underwater explorations more efficiently and safely since these vehicles can stay underwater much longer than any human can possibly do and they require little or almost no human interaction. These vehicles are subject to dynamic and unpredictable nature of the underwater environment resulting to complexities in their navigation. This paper proposes a fuzzy logic-based controller to allow the vehicle to navigate autonomously while avoiding obstacles. The said controller is implemented in an actual low-cost underwater vehicle equipped with magnetometer and ultrasonic sensors. The intelligence of the UUV includes a two fuzzy logic block, namely Motion Control block and Heading Correction block. The fuzzy logic controller takes in target positions in X, Y and Z axes. Also, the heading error and rate of heading error are included as inputs in order to correct the bearing or direction of the vehicle. A heuristic and integration stage is also included after these fuzzy logic blocks for vehicle's collision avoidance. The controller output parameters are the adjusted thrusters' speeds which dictate the six thrusters speed and direction. With the proper output commands from this controller, the vehicle is able to navigate in its predefined destination. © 2013 IEEE.
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Digitial Object Identifier (DOI)
10.1109/sii.2013.6776715
Recommended Citation
David, K. A., Vicerra, R. P., Bandala, A. A., Gan Lim, L. A., & Dadios, E. P. (2013). Unmanned underwater vehicle navigation and collision avoidance using fuzzy logic. 2013 IEEE/SICE International Symposium on System Integration, SII 2013, 126-131. https://doi.org/10.1109/sii.2013.6776715
Disciplines
Manufacturing
Keywords
Autonomous underwater vehicles; Fuzzy logic
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