Path Planning for Autonomous Underwater Vehicle in Presence of Moving Obstacle Based on Three Inputs Fuzzy Logic

Abstract

This paper concentrated on the path planning for autonomous underwater vehicle (AUV) to avoid collisions with the moving obstacles. Considering the influence of moving speed of the obstacles on control effect, a 3-inputs fuzzy controller is designed, in which the change of the distance between the AUV and the obstacle is taken as one of the inputs. Simulation results show that the controller can avoid the slow moving obstacles in the same direction in front of the AUV, and also successfully avoid the obstacles moving towards the AUV. And it also shows that when the obstacle moves faster, the 3-inputs controller is obviously more effective than the commonly used 2-inputs controller.