Journal of KIISE:Software and Applications (한국정보과학회논문지:소프트웨어및응용)

Korean Institute of Information Scientists and Engineers (한국정보과학회)
권호 표지

High-level Autonomous Navigation Technique of AUV using Fuzzy Relational Products

퍼지관계곱을 이용한 수중운동체의 고수준 자율항행기법

  • Lee, Young-Il (Dept.of Computer Science, Gyeongsang National University) ;
  • Kim, Yong-Gi (Dept.of Computer Science, Gyeongsang National University)
  • 이영일 (경상대학교 컴퓨터과학과) ;
  • 김용기 (경상대학교 컴퓨터과학과)
  • Published : 2002.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper describes a heuristic search technique carrying out collision avoidance for Autonomous Underwater Vehicles(AUVs). Fuzzy relational products are used as the mathematical implement for the analysis and synthesis of relations between obstacles that are met in the navigation environment and available candidate nodes. In this paper, we propose a more effective evaluation function that reflects the heuristic information of domain experts on obstacle clearance, and an advanced heuristic search method performing collision avoidance for AUVs. The search technique adopts fuzzy relational products to conduct path-planning of intelligent navigation system. In order to verify the performance of proposed heuristic search, it is compared with $A^*$ search method through simulation in view of the CPU time, the optimization of path and the amount of memory usage.

본 논문에서는 자율수중운동체(AUVs, Autonomous Underwater Vehicles)의 실시간 충돌회피를 위한 휴리스틱 탐색기법을 논한다. 퍼지관계곱(fuzzy relational products)은 항행 환경에서 발생하는 장애물과 다음으로 이동 가능한 후보노드들과의 관계를 분석, 종합하는 수학적 도구로 사용된다. 본 논문은 영역전문가 보유한 장애물회피 관련 경험적 정보(heuristic information)를 반영하여 보다 효율적인 평가함수(evaluation function)를 고안하며 지능항행시스템의 상세경로설정(local path-planning)에 퍼지관계곱을 적용하여 보다 개선된 휴리스틱 탐색기법을 제안한다. 제안된 탐색기법의 성능검증을 위해 수행시간(cpu time), 경로의 최적화(optimization) 정도, 그리고 사용 메모리 관점에서 시뮬레이션을 통해 $A^{*}$ 탐색기법과 비교한다.

Keywords

References

  1. Ong, S. M., 'A Mission Planing knowledgebased system with Three-Dimersional Path Optimization for the NPS Model 2 Autonomous Underwater Vehicle,' Master's Thesis, Naval Postgraduate School, 1990
  2. C. Vasudcvan and K. Ganesan, Case-Baded path Planning for Autonomous Underwater Vehicles,' Underwater Robots, Yuh, Ura and Bekey (Eds), Kluwer Academic Publishers, Boston, pp. 1-5, 1996
  3. Oommcn, B. J., Iyengar, S. S., Rao, S. V. N., and Kashyap, R. L., 'Robot Navigation in Unknown Terrains Using Learned Visibility Graphs. PartⅠ: The Disjoint Convex Obstacle case,' IEEE Journal of Robotics and Automation, V. RA-3(6), pp. 672-681, 1987
  4. Bauzil, G., Briot, M. and Ribes, P., 'A Navigation Sub-System Using Ultrasonic Sensors for the Mobile Robot HILARE,' 1st In. Conf. on Robot Vision and Sensory Controls, Statiford-upon-Avon, UK., pp.47-58 and 681-698, 1981
  5. Iijima, J., Yuta, S., and Kanayama, Y., 'Elementary Functions of a Self-Contained Robot,' Proc. of the 11th Int. Symp. on Industrial Robots, Tokyo, pp. 211-218, 1983
  6. J. Rorenstein and Y. Korean, 'Real-time obstacle avoidance for fast mobile robots,' IEEE Trans. System, Man, and Cybernetics, vol. 19, no. 5, pp.1179-1187, 1989 https://doi.org/10.1109/21.44033
  7. J. Borenstein and Y. Korean, 'The vector field histogram-fast obstacle avoidance for mobile robots,' IEEE Trans. Robotics and Automation, vol. 7, no. 3, pp. 278-288, 1991 https://doi.org/10.1109/70.88137
  8. Bandler, W., and Kohout, L. J., Wang, S. K, and Chang, P. P.eds., Fuzzy Sets: Theory and Application to Analysis and Information Systems,Fuzzy Relational Products as a Tool for Analysis and Synthesis of the Behaviour of Complex natural and Artificial System, Plenum Press, New York, pp. 341-367, 1980
  9. Bandler, W., and Kohout, L. J., 'Semantics of Implication Operators and Fuzzy Relational Products,' Intl. Journal of Man-Machine Studies, 1980
  10. Kohout, L. J., Keravnou, E., and Bandler, W., 'Automatic Documentary Information Retrieval by Means of Fuzzy Relational Products,' In Gaines, B. R., Zadeh, L. A., Zimmermann, H. J., editors, Fuzzy Sets in Decision Analysis, North-Holland, Amsterdam, pp. 308-404, 1984
  11. Bandler, W., and Kohout L. J., 'Fuzzy Power Sets and Fuzzy Implication Operator,' Fuzzy Set and System4, pp.13-30, 1980 https://doi.org/10.1016/0165-0114(80)90060-3
  12. Lozano-Perez,T., Wesley, M. A., 'An Algorithm for Planning Collision Free Paths among Polyhedral Obstacles,' Communications, v. ACM-22(10), pp. 560-570, 1979 https://doi.org/10.1145/359156.359164
  13. Stuart, R., Peter, N., Artificial Intelligence-A Modern Approach, Prentice-Hall Inc., 1995
  14. George, F. L., William, A. S., Artificial Intelligence and the Design of Expert System, The Benhamin/Cummings Publishing Company, Inc., 1989