Study on route selection and collision avoidance of UUV based on fuzzy control

Abstract

The route selection and collision avoidance performance of UUV was studied based on fuzzy control theory. Firstly, a six-degree-of-freedom motion experiment is simulated for the submarine, and a fuzzy controller is designed according to the motion parameters obtained from the experiment. The fuzzy control system includes the heading control and depth control, and uses the fuzzy BK triangle sub product algorithm to design the next instantaneous safety course, so as to achieve the anti-collision function. In the numerical simulation, the performance of the controller is evaluated by setting a single point obstacle and a multi-point obstacle, respectively, for both the heading control and the collision avoidance path planning. The results show that: The fuzzy control system has better function of route selection, can determine the best course in time, and can pass the obstacle on the course with enough safe distance, which verifies the feasibility of this method.