Title :
A mission planning system for an autonomous underwater vehicle
Author :
Cao, Jiangli ; Sun, Chaoyi
Author_Institution :
Coll. of Comput. Sci. & Technol., Harbin Eng. Univ., Harbin
Abstract :
To perform long range navigation and desired task, AUV is required to describe internal system states and mutual transitions clearly and completely. The mission planning system developed in this project utilizes finite state machine model to analyze and depict AUVpsilas working flow and intricate control logic of all mission stages. An efficient path planning method resulting in a shortest tangent route is presented, and it can be easily computed and implemented. A real-time motion planner using fuzzy logic is designed, it can practice superior dynamic control under imprecise sensor measurement, and it also satisfies real-time constraints and is easy to use. Simulation experiments and sea trials show that the mission planning system can guide AUV to navigate from given start position to remote task area, and precisely locate position and complete task, and it is capable of dealing with complex ocean environment and highly autonomous.
Keywords :
finite state machines; fuzzy logic; motion control; path planning; remotely operated vehicles; underwater vehicles; autonomous underwater vehicle; complex ocean environment; finite state machine; fuzzy logic; mission planning system; path planning method; real-time motion planner; Automata; Computational modeling; Fuzzy logic; Motion control; Motion measurement; Navigation; Path planning; Sea measurements; Underwater vehicles; Vehicle dynamics; AUV; finite state machine; fuzzy logic; path planning;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593554