ONE METHOD FOR ROV NAVIGATION USING FUZZY CONTROL

摘要

This paper presents a fuzzy navigation method for underwater robot ROV. Usually it is difficult to navigate a ROV only depending on the underwater cameras because underwater is shallow and muddy. Especially if there are obstacles under the water, the ROV will be collided easily. In this paper the proposed method represents the states and local environmental information of ROV in 3D space to be multi fuzzy conditions, then builds a three laye fuzzy controller based on ROV navigation behavior. The effectiveness of proposed method is verified by the simulation results.