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http://dx.doi.org/10.5391/JKIIS.2009.19.5.635

Intelligent Obstacle Avoidance Algorithm for Autonomous Control of Underwater Flight Vehicle  

Kim, Hyun-Sik (동명대학교 로봇시스템공학과)
Jin, Tae-Seok (동서대학교 메카트로닉스공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.19, no.5, 2009 , pp. 635-640 More about this Journal
Abstract
In real system application, the obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: it has local information because the sonar can only offer the obstacle information in a local detection area, it requires a continuous control input because the system that has reduced acoustic noise and power consumption is necessary, and further, it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.
Keywords
Underwater flight vehicle; Autonomous control; Obstacle avoidance; Evolution strategy; Fuzzy basis function expansion;
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