AUTONOMOUS UNDERWATER VEHICLE RETRIEVAL MANOEUVRE USING ARTIFICIAL INTELLIGENT STRATEGY

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1、AUTONOMOUSUNDERWATERVEHICLERETRIEVALMANOEUVREUSINGARTIFICIALINTELLIGENTSTRATEGYC.S.Tan,R.Sutton,S.AhmadandJ.Chudley{chiew.tan,r.sutton,s.ahmad,j.chudley}@plymouth.ac.ukMarineandIndustrialDynamicAnalysisGroupDepartmentofMechanicalandMarineEngineeringTheUniversityofPlymouth,PL48AA,UKAbstract:This

2、paperfocusesontheapplicationofemployingfuzzylogictechniqueinanautonomousunderwatervehicle(AUV)dockingmanoeuvreinvolvingamovingplatform.ThecoreofthepaperdelvesontheimplementationofanenhancedfuzzylogiccontrollerforthedockingofanAUVinasimulatedenvironment.Theimplementedfuzzylogicinferencesystem(FI

3、S)functionsbymappingtheindividualfuzzyareasorcells(AUVpositions)intoaformatthatcontainscriticalinformationregardingAUVspeedandheadingrequirementssuchthattheAUVcouldberecursivelydriventothedockingstation.Copyright©2003IFACKeywords:Artificialintelligence,fuzzylogic,highlevelcontrol,docking1.INTRO

4、DUCTIONSmith,etal.(1993)areseenastheonlyproponentsinthisareaofresearch.ItwasreportedthattheyThereisincreasinginterestintheuseofautonomoussuccessfullyemployedaseparatelinearfunctionforunderwatervehicles(AUVs)asforcemultipliersforthespeedprofilecontrollerandafuzzylogicsystemsubmarinesupportedmari

5、timeexpeditionarytoproviderecursive‘goal’fortheAUVduringtheoperations.However,aggravatingtheproblemisthedockingphasesimulation.TheadvantageofusingalimitedbatterytechnologyofanAUV,whichdoesfuzzyrulebasesystemisitsnon-dependenceofnotprovideadequateservicingrange.Likewise,theaccurateinformationabo

6、utthedynamicsofthehighbandwidthdatatransmissionrequirementforcompleteAUVoceansystem.Thefuzzysystemmostsurveillancetaskmakesitcompulsoryforanapproachedthevirtual“funnel”byprovidingnewAUVtouploaditsdataintermittently.Thus,thewaypointsothatmoreaggressiveAUVmanoeuvreconceptforanAUVdockingwithacanbe

7、initiated.Themaingoalistodockreliablyinstation/submarineforrecharging,downloadingdatavariousuncertainconditionsinsteadoftryingtoorevenservicingpurposesisanattractiveachievedockinginminimumtime.proposition.Untilrecently,mostresearc