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

Disciplines

Manufacturing

Keywords

Autonomous underwater vehicles; Fuzzy logic

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