Title :
Multiple obstacles detection using fuzzy interface system for AUV navigation in natural water
Author :
Zhao, Shi ; Lu, Tien-Fu ; Anvar, Amir
Author_Institution :
Sch. of Mech. Eng., Univ. of Adelaide, Adelaide, SA, Australia
Abstract :
The detection of small moving targets, such as hazardous objects, is a challenging problem for sonar surveillance used by maritime robots´ navigation in shallow water. This phenomenon is due to the ambient sea noise and reverberation. This paper presents a fuzzy algorithm to automate detection of underwater multiple objects using Mechanical Scanned Imaging Sonar (MSIS). Returned sound waves were evaluated by a fuzzy interface system (FIS). Two parameters: the Pulse length and Maximum intensity are selected as linguistic variables for the fuzzy system. The data used in this paper were collected in a natural river which is about 3 meters depth. Results demonstrate good, reliable and fast performances of the proposed algorithm.
Keywords :
collision avoidance; fuzzy logic; mobile robots; neural nets; remotely operated vehicles; sonar imaging; underwater vehicles; AUV navigation; autonomous underwater vehicles; fuzzy interface system; maritime robot navigation; maximum intensity parameter; mechanical scanned imaging sonar; multiple obstacles detection; pulse length parameter; sonar surveillance; Acoustic noise; Fuzzy systems; Object detection; Reverberation; Rivers; Robotics and automation; Sonar detection; Sonar navigation; Surveillance; Underwater tracking; AUV; FIS; imaging sonar target detection;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2010 the 5th IEEE Conference on
Conference_Location :
Taichung
Print_ISBN :
978-1-4244-5045-9
Electronic_ISBN :
978-1-4244-5046-6
DOI :
10.1109/ICIEA.2010.5515001
