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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)
Department水下机器人研究室
Conference NameUnderwater Intervention Conference 2009, UI 2009
Conference DateMarch 3-5, 2009
Conference PlaceNew Orleans, LA, USA
Source PublicationUnderwater Intervention Conference 2009, UI 2009
PublisherMarine Technology Society Inc., 5565 Sterrett Place, Suite 108, Columbia, MD 21044, United States
2009
Pages5-10
Indexed ByEI
EI Accession number20133416642601
Contribution Rank1
ISBN978-1-61567-004-8
AbstractThis 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19989
Collection水下机器人研究室
Affiliation1.Graduate School, Chinese Academy of Sciences, Beijing 100049, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016, China
Recommended Citation
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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