PATH PLANNING FOR UNDERWATER ROBOT BY FUZZY DECISION MAKING METHOD

摘要

Discusses the way of real_time path planning for underwater robot by fuzzy decision making method,which is achieved by first obtaining environmental information through real_time detection of the scope of 180°in front of it with a distance measuring sonar operated by the robot ,and then establishing the direction and angle of rotation required to avoid obstacles through real_time planning by fuzzy planning,and in the case of unusual situations,such as wall corner,the avoidance of obstacles is achieved by moving around with the rotational angle continuously modified by the rotational angle recorder,and points out that satisfactory results are obtained through computer simulation.