A Fuzzy Rule Based Docking Procedure for Two Moving Autonomous Underwater Vehicles

A fuzzy logic control system is described which allows an Autonomous Underwater Vehicle (AUV) to safely dock with another moving umderwater vehicle. The fuzzy logic controller´s rulebase recursively drives the docking vehicle towards intermediate fuzzy targets that will put the vehicle in an increasingly better position from which docking is more achievable. A six degree of freedom non-linear model of the Ocean Voyager dynamics is used to test the performance of an AUV under fuzzy control. The imaginary docking collar is fixed to a simple, moving model of a 688 Los Angeles Class submarine. Docking is then attempted from any position around the submarine. Models of uncertainties in vehicle position sensing turbulence and hull suction effects are also included.