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2009 Sixth International Conference on Fuzzy Systems and Knowledge Discovery
Obstacle Avoiding Policy of Multi-AUV Formation Based on Virtual AUV
Tianjin, China
August 14-August 16
ISBN: 978-0-7695-3735-1
ASCII Text
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Wenling Huang, Huajing Fang, Li Liu, "Obstacle Avoiding Policy of Multi-AUV Formation Based on Virtual AUV," Fuzzy Systems and Knowledge Discovery, Fourth International Conference on, vol. 4, pp. 131-135, 2009 Sixth International Conference on Fuzzy Systems and Knowledge Discovery, 2009.
 
 
BibTex
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@article{ 10.1109/FSKD.2009.776,
author = {Wenling Huang and Huajing Fang and Li Liu},
title = {Obstacle Avoiding Policy of Multi-AUV Formation Based on Virtual AUV},
journal ={Fuzzy Systems and Knowledge Discovery, Fourth International Conference on},
volume = {4},
year = {2009},
isbn = {978-0-7695-3735-1},
pages = {131-135},
doi = {http://doi.ieeecomputersociety.org/10.1109/FSKD.2009.776},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
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TY - CONF
JO - Fuzzy Systems and Knowledge Discovery, Fourth International Conference on
TI - Obstacle Avoiding Policy of Multi-AUV Formation Based on Virtual AUV
SN - 978-0-7695-3735-1
SP131
EP135
A1 - Wenling Huang,
A1 - Huajing Fang,
A1 - Li Liu,
PY - 2009
KW - Autonomous Underwater Vehicle (AUV)
KW - Pathing Planning
KW - Formation Control
KW - Obstacle Avoiding
KW - Fuzzy Control
VL - 4
JA - Fuzzy Systems and Knowledge Discovery, Fourth International Conference on
ER -
 
Based on the local path planning for Autonomous Underwater Vehicle (AUV) with uniform motion, a fuzzy logic control algorithm is adopted for AUV with variable velocity. And based on the formation control method and the geometrical kinematic relation of the formation order, the multi-AUV formation of obstacle avoiding can be translated into the path planning of a virtual AUV. A fuzzy control policy is designed for the virtual AUV to avoid obstacles. Simulation results show that the formation is flexible and can keep away from obstacles by keeping the initial formation shape or changing the formation shape according to obstacle information.
Index Terms:
Autonomous Underwater Vehicle (AUV), Pathing Planning, Formation Control, Obstacle Avoiding, Fuzzy Control
Citation:
Wenling Huang, Huajing Fang, Li Liu, "Obstacle Avoiding Policy of Multi-AUV Formation Based on Virtual AUV," fskd, vol. 4, pp.131-135, 2009 Sixth International Conference on Fuzzy Systems and Knowledge Discovery, 2009
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