An Optimized Fuzzy Control Algorithm for Three-Dimensional AUV Path Planning
An Optimized Fuzzy Control Algorithm for Three-Dimensional AUV Path Planning
复制标题
三维AUV路径规划的优化模糊控制算法
DOI：
10.1007/s40815-017-0403-1
复制
发表时间：
2018-02-01
影响因子：
4.3
通讯作者：
Yang, Simon X.
中科院分区：
文献类型：
--
作者：
Sun, Bing;Zhu, Daqi;Yang, Simon X.
路径规划是自主式水下机器人水下使命中的一个重要问题。针对三维AUV路径规划问题，提出了一种优化的模糊控制算法。基于声纳模型，可用于复杂水下环境下的路径规划。首先，建立了基于水平和垂直平面布置的两个声纳的路径规划。在声纳采集的环境信息基础上，通过带加速/制动模块的模糊系统，得到AUV在三维空间中的虚拟加速度和速度，使AUV能够自动避开动态障碍物。考虑到模糊边界选择具有很大的主观性，生成的路径不能保证是最优的。因此，为了解决这一问题，本文比较了两种优化方法，对模糊集进行了优化。仿真结果表明，该方法能够在三维水下环境下生成最优的三维路径，可应用于真实的环境中。
Path planning is an important issue for autonomous underwater vehicle (AUV) underwater mission. In this paper, an optimized fuzzy control algorithm is proposed for three-dimensional (3D) AUV path planning. Based on the sonar model, it can be used for path planning in the complex underwater environment. First, the path planning is established based on the two sonars arranged on the horizontal plane and vertical plane. On the environment information collected by sonars, the virtual acceleration and velocity of AUV in the three-dimensional space can be obtained through the fuzzy system with accelerate/break module which enables AUV to avoid dynamic obstacles automatically. Considering the fuzzy boundary choice has great subjectivity, the generated path cannot guarantee to be optimal. Therefore, in order to deal with this problem, two optimized methods are compared to do the optimization of the fuzzy set. Simulation results indicate that the proposed method can generate an optimal 3D path under three-dimensional underwater environment and can be used in real case in the future.