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Fuzzy Logic Based Behavior Fusion for Multi-AUV Formation Keeping in Uncertain Ocean Environment
Kang XD(康小东); 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
Pages824-830
Indexed ByEI ; CPCI(ISTP)
EI Accession number20101812902149
WOS IDWOS:000280322600120
Contribution Rank1
ISSN0197-7385
ISBN978-1-4244-4960-6
AbstractIn the complex and uncertain ocean environments, and under the conditions of current and sensor noises, multiple autonomous underwater vehicles (multi-AUV) keep a spatial formation to survey a large-scale unknown area with real-time obstacle avoidance ability. This paper presents a new behavior fusion method using fuzzy logic for coordinating multiple reactive behaviors. The inputs to the proposed fuzzy control scheme for the leader AUV in multi-AUV system consist of the deviation in yaw angle while performing obstacle avoidance and goal seeking action separately, and the fuzzy control scheme for the follower AUV consists of the deviations in yaw angle while performing obstacle avoidance and formation keeping action separately. The outputs from the behavior fusion scheme are the behavior weights for the leader and follower AUV. A real-time simulation platform has been developed and several typical obstacle scenes have been demonstrated in this simulation platform, the simulation results verify the effectiveness and robustness of the proposed behavior fusion method.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7818
Collection水下机器人研究室
Affiliation1.Robotics State Key Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
2.Graduate School of the Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Kang XD,Xu HL,Feng XS. Fuzzy Logic Based Behavior Fusion for Multi-AUV Formation Keeping in Uncertain Ocean Environment[C]//Marine Technol Soc, IEEE Ocean Engn Soc. NEW YORK:IEEE,2009:824-830.
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