Fuzzy Behavioral Navigation for Bottom Collision Avoidance of Autonomous Underwater Vehicles

摘要

This paper proposes a fuzzy behavioral navigation system with a two-layered hierarchical architecture to address the bottom collision avoidance problem of autonomous underwater vehicles (AUVs) with depth-keeping mission. In the path planning module, depth keeping and collision avoidance behaviors and a fuzzy arbiter are included. And the fuzzy logic control is used in the pitch motion control module. The main advantage of the proposed approach is its simplicity, modularity, expandability, and applicability. Simulation studies are provided on a cruising type AUV to test the performances.