Title :
Performance results of a fuzzy behavioral altitude flight controller and rendezvous and docking of an autonomous underwater vehicles with fuzzy control
Author :
White, K.A. ; Smith, S.M. ; Ganesan, K. ; Kronen, D. ; Rae, G.J.S. ; Langenbach, R.M.
Author_Institution :
Dept. of Ocean Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Abstract :
This paper describes the performance of the fuzzy behavioral decision based controller (FBDC) approach used to control the bottom altitude flight controller of the Ocean Voyager II (OVII) and Ocean Explorer (OEX) autonomous underwater vehicles. This paper also describes the approach planned for implementing rendezvous and docking capability on the OEXs. This approach is based on an inexpensive short base-line navigation system and a fuzzy docking controller
Keywords :
attitude control; fuzzy control; intelligent control; marine systems; navigation; OVII; Ocean Explorer; Ocean Voyager II; altitude flight control; autonomous underwater vehicles; behavioral control; docking control; fuzzy control; navigation; rendezvous; Aerospace engineering; Automotive engineering; Fuzzy control; Fuzzy logic; Oceans; Payloads; Sea floor; Sea measurements; Sonar; Underwater vehicles;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1996. AUV '96., Proceedings of the 1996 Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-3185-0
DOI :
10.1109/AUV.1996.532407
