Self-adjustable expert fuzzy control of deep ocean mining robot

Abstract

Infulenced by environment and mining robot itself, deep seabed autonomous tracked mining robot has characteristics of being unknown, random and nonlinear, etc. In this paper, a self-adjustable expert fuzzy controller was presented to control deep seabed autonomous tracked mining robot and follow specified path. Based on tracked vehicle kinematical equation, combining deep seabed tracked mining robot working parameters and condition, some manual control experiences are intergrated as expert rule to realize its speed and azimuth closed-loop control. An adjustable fuzzy controller is used to control right and left tracked speed. Simulation results verify its feasibility and validity.