Autonomous underwater vehicle retrieval manoeuvre using artificial intelligent strategy

C. S. Tan, R. Sutton, S. Ahmad, J. Chudley

Research output: Contribution to journalConference articlepeer-review

2 Scopus citations

Abstract

This paper focuses on the application of employing fuzzy logic technique in an autonomous underwater vehicle (AUV) docking manoeuvre involving a moving platform. The core of the paper delves on the implementation of an enhanced fuzzy logic controller for the docking of an AUV in a simulated environment. The implemented fuzzy logic inference system (F1S) functions by mapping the individual fuzzy areas or cells (AUV positions) into a format that contains critical information regarding AUV speed and heading requirements such that the AUV could be recursively driven to the docking station.

Original languageEnglish
Pages (from-to)139-144
Number of pages6
JournalIFAC-PapersOnLine
Volume36
Issue number4
DOIs
StatePublished - 2003
Externally publishedYes
Event1st IFAC Workshop on Guidance and Control of Underwater Vehicles, GCUV 2003 - Newport, United Kingdom
Duration: 9 Apr 200311 Apr 2003

Bibliographical note

Publisher Copyright:
Copyright © 2003 IFAC.

Keywords

  • Artificial intelligence
  • Docking
  • Fuzzy logic
  • High level control

ASJC Scopus subject areas

  • Control and Systems Engineering

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