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AUV real-time obstacle avoidance in unknown environment by fuzzy control based on finite state automata
Xu HL(徐红丽); Feng XS(封锡盛)
作者部门水下机器人研究室
会议名称Underwater Intervention Conference 2009, UI 2009
会议日期March 3-5, 2009
会议地点New Orleans, LA, USA
会议录名称Underwater Intervention Conference 2009, UI 2009
出版者Marine Technology Society Inc., 5565 Sterrett Place, Suite 108, Columbia, MD 21044, United States
2009
页码5-10
收录类别EI
EI收录号20133416642601
产权排序1
ISBN号978-1-61567-004-8
摘要This paper presents a new real-time obstacle avoidance method for AUV adapting well to unknown complex environment. AUV obstacle avoidance (OA) system is regarded as a discrete event dynamic system and represented by finite state automata (FSA). Each state of the automata is corresponding to an AUV obstacle avoidance behavior, which is executed by fuzzy controllers, and each event of it arises from environmental situation change. The horizontal and vertical OA behaviors are coordinated by the automata. In addition, a supervisor based on event feedback is introduced for avoiding endless cycle of OA process. The availability and feasibility of the presented method are demonstrated by the simulation under typical obstacle scenes on an AUV semi-physical simulation platform.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19989
专题水下机器人研究室
作者单位1.Graduate School, Chinese Academy of Sciences, Beijing 100049, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016, China
推荐引用方式
GB/T 7714
Xu HL,Feng XS. AUV real-time obstacle avoidance in unknown environment by fuzzy control based on finite state automata[C]:Marine Technology Society Inc., 5565 Sterrett Place, Suite 108, Columbia, MD 21044, United States,2009:5-10.
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