Collision Avoidance of Moving Obstacles for Underwater Robots

Journal of Systemics, Cybernetics and Informatics

Cho Jeongmok¹  Joh Joongseon¹  Kwon Sung-Ha¹  KWON KYOUNG YOUB² 

[1] Changwon National University;Daewon Mechatronics co.;

关键词: simulator;    MVFF;    obstacle avoidance;    navigation;    underwater robot;    Fuzzy Logic;    track keeping;   

DOI  :  

来源: DOAJ

【 摘 要 】

A fuzzy logic for autonomous navigation of underwater robot is proposed in this paper. The VFF(Virtual Force Field) algorithm, which is widely used in the field of mobile robot, is modified for application to the autonomous navigation of underwater robot. This Modified Virtual Force Field(MVFF) algorithm using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robot. A graphic simulator based on OpenGL for an autonomous navigation has been developed. The good performance of the proposed MVFF algorithm is verified through computer simulations on an underwater robot.

【 授权许可】

Unknown