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http://dx.doi.org/10.5391/JKIIS.2011.21.3.323

Intelligent 3-D Obstacle Avoidance Algorithm for Autonomous Control of Underwater Flight Vehicle  

Kim, Hyun-Sik (동명대학교 로봇시스템공학과)
Jin, Tae-Seok (동서대학교 메카트로닉스공학과)
Sur, Joo-No (해군사관학교 기계조선공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.21, no.3, 2011 , pp. 323-328 More about this Journal
Abstract
In real system application, the 3-D obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: the sonar offers the range/bearing information of obstacles in a local detection area, it requires the system that has reduced acoustic noise and power consumption in terms of the autonomous underwater vehicle (AUV), it has the UFV operation constraints such as maximum pitch and depth, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent 3-D 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 3-D 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; 3-D obstacle avoidance; Evolution strategy; Fuzzy logic;
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Times Cited By KSCI : 1  (Citation Analysis)
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