AUV real-time obstacle avoidance in unknown environment by fuzzy control based on finite state automata

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	AUV real-time obstacle avoidance in unknown environment by fuzzy control based on finite state automata
	Xu HL(徐红丽); Feng XS(封锡盛)
	2009
会议名称	Underwater Intervention Conference 2009, UI 2009
会议日期	March 3-5, 2009
会议地点	New Orleans, LA, USA
页码	5-10
中文摘要	This paper presents a new real-time obstacle avoidance method for AUV adapting well to unknown complex environment. AUV obstacle avoidance (OA) system is regarded as a discrete event dynamic system and represented by finite state automata (FSA). Each state of the automata is corresponding to an AUV obstacle avoidance behavior, which is executed by fuzzy controllers, and each event of it arises from environmental situation change. The horizontal and vertical OA behaviors are coordinated by the automata. In addition, a supervisor based on event feedback is introduced for avoiding endless cycle of OA process. The availability and feasibility of the presented method are demonstrated by the simulation under typical obstacle scenes on an AUV semi-physical simulation platform.
收录类别	EI
产权排序	1
会议录	Underwater Intervention Conference 2009, UI 2009
会议录出版者	Marine Technology Society Inc., 5565 Sterrett Place, Suite 108, Columbia, MD 21044, United States
语种	英语
ISBN号	978-1-61567-004-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19989]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Xu HL,Feng XS. AUV real-time obstacle avoidance in unknown environment by fuzzy control based on finite state automata[C]. 见:Underwater Intervention Conference 2009, UI 2009. New Orleans, LA, USA. March 3-5, 2009.