ROV模糊控制导航方法

详细信息

ONE METHOD FOR ROV NAVIGATION USING FUZZY CONTROL

1.
Shenyang Institute of Automation, the Chinese Academy of Sciences, Shenyang 110015
2.
Shandong University of Science and Technology, Jinan 250031

摘要: 本文提出一种水下ROV（Remotely Operated Vehicles）的模糊导航方法和基于该方法的控制器结构．通常由于水下环境光照不足或是水质混浊，很难依赖摄像机准确地为ROV导航，引导ROV到达预定目标，尤其是工作空间存在障碍物时，ROV很可能发生碰撞．文中提出的模糊控制方法，将ROV在3D空间运动的状态、局部环境信息以及导航规划数据表示为多重模糊条件，然后结合ROV的导航特点，建立了一个三级模糊控制器，该控制器使用同一种控制模式完成ROV有障碍和无障碍的导航任务．仿真实验结果验证了所提出方法的有效性．
- 模糊控制 /
- 导航与控制 /
- 避碰
Abstract: This paper presents a fuzzy navigation method for underwater robot ROV. Usually it is difficult to navigate a ROV only depending on the underwater cameras because underwater is shallow and muddy.Especially if there are obstacles under the water, the ROV will be collided easily. In this paper the proposed method represents the states and local environmental information of ROV in 3D space to be multi-fuzzy conditions, then builds a three-laye fuzzy controller based on ROV navigation behavior. The effectiveness of proposed method is verified by the simulation results.
- fuzzy control /
- navigation and control /
- collision avoidance

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