Fuzzy Logic Control for an Autonomous Underwater Crawler

Abstract

Current underwater crawling vehicles could benefit by using rotating head sonar data to avoid collisions with obstacles. We have developed and optimized a fuzzy logic controller using software for simulation of an underwater environment. The optimization results show near an order of magnitude increase in performance over both straight line and lawnmower search patterns with relatively small changes in the system parameters. The fuzzy logic controller has the capability of navigating a crawler safely and quickly between mission specific points.

Training Methods of a Non-Linear Fuzzy Logic Controller for an Underwater Autonomous Crawler

“…The choice of parameters would depend upon the characteristic of the vehicle such as speed, size, and sensor capabilities. The designed controller is based on a linear fuzzy logic controller previously published [3]. This work included a similar optimization routine of the linear controller assuming no navigation error and a point vehicle.…”

“…The initial values chosen for the optimizations were optimized values for the previously designed linear fuzzy logic controller [3]. The linear model assumed no navigation error and a point sized vehicle.…”