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An AUV Fuzzy Obstacle Avoidance Method under Event Feedback Supervision
Xu HL(徐红丽); Feng XS(封锡盛)
Department水下机器人研究室
Conference NameOceans 2009 Conference
Conference DateOctober 26-29, 2009
Conference PlaceBiloxi, MS
Author of SourceMarine Technol Soc, IEEE Ocean Engn Soc
Source PublicationOCEANS 2009, VOLS 1-3
PublisherIEEE
Publication PlaceNEW YORK
2009
Pages808-813
Indexed ByEI ; CPCI(ISTP)
EI Accession number20101812902151
WOS IDWOS:000280322600118
Contribution Rank1
ISSN0197-7385
ISBN978-1-4244-4960-6
AbstractIn order to improve adaptability of a class of under-actuated AUVs in unknown obstacles environment, this paper proposes a new obstacle avoidance method including three main parts. Firstly we design five basic obstacle avoidance behaviors in which emergency-yaw and holding-distance behaviors, and emergency-ascend and holding-altitude behaviors are responsible for avoiding obstacles in horizontal plane and in vertical plane respectively. All the behaviors have their own objectives and are implemented by fuzzy controllers. In the second part we present finite state automata (FSA) which are used to select a suitable obstacle avoidance behavior when an obstacle is detected. Each discrete state corresponds to a basic obstacle avoidance behavior. A set of events, oriented from changes of external environment, drive the obstacle avoidance automata from one state to another. The obstacle avoidance automata are able to make instantaneous response to external stimulation, but may come to a deadlock under some special conditions because of no considering historical information. So a supervisor based on event feedback is presented in the third part. It provides the obstacle avoidance automata with a control mode and can lead it to break a deadlock through local path planning. At last the availability and feasibility of the proposed method are demonstrated by simulation tests under more than 30 types of obstacle scenarios on an AUV semi-physical simulation platform.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7797
Collection水下机器人研究室
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, 114 Nanta Street, Shenyang 110016, China
Recommended Citation
GB/T 7714
Xu HL,Feng XS. An AUV Fuzzy Obstacle Avoidance Method under Event Feedback Supervision[C]//Marine Technol Soc, IEEE Ocean Engn Soc. NEW YORK:IEEE,2009:808-813.
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