Mine avoidance techniques for underwater vehicles

How simple autonomous decisions evolve into robust behaviours?: A review from neurorobotics, cognitive, self-organized and artificial immune systems fields

“…Note that the sensory systems (also called navigation systems) may exceed the perception system that the robot needs to fulfill a mission, in what Haykin et al call the information gap (Haykin et al, 2012). To deepen further about perception systems in robot engineering, the reader is referred to (Antonelli et al, 2001;Conte et al, 1994;Borenstein and Koren, 1991;Warren, 1999;Yoerger et al, 1996;Hyland and Taylor, 1993;Panait and Luke, 2005;Villar et al, 2013). Another necessary building block is a low-level trajectory generator from the next target position and the robot's current position, referred to as the guidance system.…”

An obstacle-avoidance technique for autonomous underwater vehicles based on BK-products of fuzzy relation

“…By estimating the characteristic of the two properties Safety and Remoteness to goal to the set S and applying to the membership functions and rules base as suggested above, we obtained the membership values forming the relation R in Eq. (6). Tables 4 and 5 show the membership values.…”

“…The real-time operation of this capability is the main requirement within the autonomous vehicle's control management system. Many approaches to the problem have been proposed in recent years [1,2,6,[19][20][21]23]. Additionally, the heuristic search technique for obstacle avoidance of AUVs using Bandler and Kohourt (BK)-products has already been presented in [16,17].…”

“…Obstacle is in s 1 , s 4 , s 5 , s6 and s 7 , the goal in the direction of s 4 . This situation is illustrated inFig.…”

Path planning for mine countermeasures command and control

“…Multicriteria optimization can be used to find paths that have good path quality in several criteria. Recent work in path planning for mine avoidance by autonomous underwater vehicles (Hyland and Taylor 1993) did not consider the use of such multiple criteria, although it did incorporate some restrictions on acceptable paths such as limiting turn radius.…”