3D path planning for AUV using fuzzy logic

摘要

A novel path planning algorithm based on fuzzy logic for autonomous underwater vehicle (AUV) in 3D unknown space is proposed, in which the 3D path planning problem is decomposed into two independent planning problems in the horizontal and vertical planes respectively. In each plane, obstacle avoidance and goal seeking behaviors are designed to solve the 2D path planning. The outputs of these two behaviors are fused via weight fuzzy logic controller to generate the final motion command. Finally, simulation results demonstrate the effectiveness and feasibility of the method.