Design and simulation of Behavior-Based Reactive Decision-making Control System for autonomous underwater vehicle

摘要

Autonomous underwater vehicle (AUV) has been widely used in marine exploration and military applications in the past decade. The Decision-making Control System of AUV plays a key role of accomplishing its tasks in complex undersea environment. In this work a Behavior-Based Reactive Decision-making Control System is proposed for AUV. During the design of the Decision-making Control system, the hierarchy idea is brought in and form a hierarchical multi-behavior based Decision-making Control system. Due to the top-down sequence, the entire AUV system is composed of three kinds of module: Rational Behavior Module, Perceptual Behavior Module and AUV Entity. A simulation example of Perceptual Behavior Module is established based on Simulink and Fuzzy toolbox, and simulation experiences show that proposed design method is effective and feasible.