Path planning algorithm for AUV based on a Fuzzy-PSO in dynamic environments

Author

Daqi Zhu ; Yuanyuan Yang ; Mingzhong Yan

Author_Institution

Lab. of Underwater Vehicles & Intell. Syst., Shanghai Maritime Univ., Shanghai, China

Volume

1

fYear

2011

fDate

26-28 July 2011

Firstpage

525

Lastpage

530

Abstract

A path planning problem of AUV in a dynamic environment is presented by using the Fuzzy- PSO controller in the paper. A novel fuzzy inference controller is developed to generate a collision-free path from an initial position to a destination. The PSO algorithm is used to tune parameters of the built fuzzy membership functions, and making adjustments for the fuzzy controller to find an optimal path. The simulation studies indicate effectiveness of the proposed approach.

Keywords

collision avoidance; control system synthesis; fuzzy control; fuzzy reasoning; mobile robots; particle swarm optimisation; path planning; remotely operated vehicles; underwater vehicles; AUV; autonomous underwater vehicle; collision-free path; dynamic environment; fuzzy inference controller; fuzzy membership functions; fuzzy-PSO controller; optimal path; parameter tuning; path planning problem; Acceleration; Collision avoidance; Heuristic algorithms; Path planning; Robots; Sensors; Vehicle dynamics; AUV; PSO algorithm; fuzzy controller; path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems and Knowledge Discovery (FSKD), 2011 Eighth International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-61284-180-9

Type

conf

DOI

10.1109/FSKD.2011.6019479

Filename

6019479