Skip to main content
SpringerLink
Log in

Fuzzy Behavioral Navigation for Bottom Collision Avoidance of Autonomous Underwater Vehicles

  • Conference paper
Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5314))

Included in the following conference series:

Abstract

This paper proposes a fuzzy behavioral navigation system with a two-layered hierarchical architecture to address the bottom collision avoidance problem of autonomous underwater vehicles (AUVs) with depth-keeping mission. In the path planning module, depth keeping and collision avoidance behaviors and a fuzzy arbiter are included. And the fuzzy logic control is used in the pitch motion control module. The main advantage of the proposed approach is its simplicity, modularity, expandability, and applicability. Simulation studies are provided on a cruising type AUV to test the performances.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Valavanis, K.P., Gracanin, D., Matijasevic, M., Kolluru, R., Demetrious, G.A.: Control Architectures for Autonomous Underwater Vehicles. IEEE Control Systems Magazinem 17, 48–64 (1997)

    Article  Google Scholar 

  2. Gianluca, A., Chiaverini, S., Finotello, R., Schiavon, R.: Real-Time Path Planning and Obstacle Avoidance for RAIS: An Autonomous Underwater Vehicle. IEEE Journal of Oceanic Engineering 26, 216–227 (2001)

    Article  Google Scholar 

  3. Wijesoma, W.S., Khaw, P.P., Teoh, E.K.: Sensor Modeling and Fusion for Fuzzy Navigation of an AGV. International Journal of Robotics and Automation 16, 14–25 (2001)

    Google Scholar 

  4. Safiotti, A.: Fuzzy Logic in Autonomous Robotics: Behavior Coordination. In: The 6th IEEE International Conference on Fuzzy Systems, Barcelona, Spain, pp. 573–578 (1997)

    Google Scholar 

  5. Kanakakis, V., Valavanis, K.P., Tsourveloudis, N.C.: Fuzzy-Logic Based Navigation of Underwater Vehicles. Journal of Intelligent and Robotic Systems 40, 45–88 (2004)

    Article  Google Scholar 

  6. Fossen Thor, I.: Marine Control Systems. Marine Cybernetics, Trondheim, Norway (2002)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. College of Marine, Northwestern Polytechnical University, Xi’an, 710072, China

    Ningning Zhao, Demin Xu, Jian Gao & Weisheng Yan

Authors
  1. Ningning Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Demin Xu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Jian Gao
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Weisheng Yan
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong , Yongan Huang  & Youlun Xiong ,  & 

  2. Institute of Industrial Research, University of Portsmouth, Burnaby Building, PO1 3QL, Portsmouth, UK

    Honghai Liu

Rights and permissions

Reprints and permissions

Copyright information

© 2008 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Zhao, N., Xu, D., Gao, J., Yan, W. (2008). Fuzzy Behavioral Navigation for Bottom Collision Avoidance of Autonomous Underwater Vehicles. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_14

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-88513-9_14

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88512-2

  • Online ISBN: 978-3-540-88513-9

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation