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http://dx.doi.org/10.5391/JKIIS.2005.15.4.498

A New Path Control Algorithm for Underwater Robots Using Fuzzy Logic  

Kwon, Kyoung-Youb (국립창원대학교 제어계측공학과 대학원)
Joung, Tae-Whee (국립창원대학교 제어계측공학과 대학원)
Jo, Joong-Seon (국립창원대학교 제어계측공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.15, no.4, 2005 , pp. 498-504 More about this Journal
Abstract
A fuzzy logic for collision avoidance of underwater robots is proposed in this paper. The VFF(Virtual Force Field) method, which is widely used in the field of mobile robots, is modified for application to the autonomous navigation of underwater robots. This Modified Virtual Force Field(MVFF) method using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robots. The obstacle avoidance algorithm has the ability to handle multiple static obstacles. Results of simulation show that the proposed method can be efficiently applied to obstacle avoidance of the underwater robots.
Keywords
MVFF; Collision avoidance; Track keeping; Underwater robot; Fuzzy logic;
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Times Cited By KSCI : 1  (Citation Analysis)
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