Fuzzy guidance controller for an autonomous boat

Author

Vaneck, T.W.

Author_Institution

Sea Grant Coll. Program, MIT, Cambridge, MA, USA

Volume

17

Issue

2

fYear

1997

fDate

4/1/1997 12:00:00 AM

Firstpage

43

Lastpage

51

Abstract

A fuzzy guidance controller is developed for waypoint following guidance on a small autonomous boat. The boat is a prototype vehicle developed at the MIT Sea Grant College Program and is designed to perform autonomous oceanographic research. The fuzzy controller is programmed in C and down-loaded to a small onboard computer for execution. Navigation data is found in real-time using a digital compass and a differentially corrected GPS receiver. The fuzzy controller was found to be relatively easy to develop, simple to tune, and robust to external disturbances. Field test results are presented and show that the guidance controller performed well on complex paths

Keywords

Global Positioning System; fuzzy control; intelligent control; navigation; position control; real-time systems; ships; GPS receiver; MIT Sea Grant College Program; autonomous boat; fuzzy guidance controller; navigation; real-time system; waypoint following guidance; Boats; Educational institutions; Fuzzy control; Global Positioning System; Marine vehicles; Mobile robots; Navigation; Prototypes; Remotely operated vehicles; Robust control;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.581294

Filename

581294