Frontal obstacle avoidance of an autonomous subsurface vehicle (ASV) using fuzzy logic method

摘要

Utilization of robots and autonomous vehicles to replace human being in executing remote, difficult, highly risk and dangerous tasks is the niche issue among robotic engineers. In order to develop such application, the main challenge is to integrate the advances of various engineering disciplines. This project proposes the design of frontal obstacle avoidance for ASV using fuzzy logic. This project also compares analyses done between Mamdani and Sugeno methods to control the maneuvering of ASV. This project uses MATLAB as the main designing tool.