A path fuzzy planner for autonomous underwater vehicles to avoid moving unknown obstacles

摘要

A fuzzy approach is used for AUVs in this paper to avoid fixed or moving unknown obstacles. In this approach, the line of sight guidance is used. AUV travels towards a target without any collision with fixed or moving unknown obstacles. By considering experience, a fuzzy logic planner is used to generate steering commands for an AUV to avoid obstacles. Speed of the moving obstacle is considered as one of the inputs of the proposed fuzzy planner. By considering this input, a fuzzy planner acquires a better path for an AUV movement. Finally by considering the available information, an algorithm is designed and simulated for AUV's path in the presence of fixed and moving unknown obstacles. The simulation results show that the fuzzy planner allows the Vehicle to navigate safely and travel toward the target on its path without collision.