Fuzzy logic control in autonomous ROV navigation

摘要

In current mobile robotics research, the development of techniques for autonomous navigation constitutes one of the major trends. In this paper, we discuss how fuzzy logic has been used in underwater robot ROV (Remotely Operated Vehicles) to control autonomous navigation. A method, which represents the states of ROV and local environmental information in which the ROV move in 3D space under a multi-fuzzy condition, is proposed, and a three-layer fuzzy controller is built based on ROV navigation behavior. The method is validated in 3D space simulation. The use of fuzzy logic results in smooth motion control, robust performance in sonar data and principle integration between different layers of control.