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http://dx.doi.org/10.5391/IJFIS.2005.5.2.124

Autonomous Navigation of an Underwater Robot in the Presence of Multiple Moving Obstacles  

Kwon, Kyoung-Youb (Dept. of Control & Instrumentation Eng. Changwon National University)
Joh, Joong-Seon (Dept. of Control & Instrumentation Eng. Changwon National University)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.5, no.2, 2005 , pp. 124-130 More about this Journal
Abstract
Obstacle avoidance of underwater robots based on a modified virtual force field algorithm is proposed in this paper. The VFF(Virtual Force Field) algorithm, which is widely used in the field of mobile robots, is modified for application to the obstacle avoidance of underwater robots. This Modified Virtual Force Field(MVFF) algorithm using the fuzzy lgoc can be used in moving obstacles avoidance. A fuzzy algorithm is devised to handle various situations which can be faced during autonomous navigation of underwater robots. The proposed obstacle avoidance algorithm has ability to handle multiple moving obstacles. Results of simulation show that the proposed algorithm can be efficiently applied to obstacle avoidance of the underwater robots.
Keywords
MVFF; fuzzy logic; obstacle avoidance; track keeping; underwater robot; navigation;
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Times Cited By KSCI : 1  (Citation Analysis)
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