The Research on the control system of the autonomous vehicle for sea floor prospecting with chaotic optimization theory.

Abstract

s. In order to ensure the accuracy and precision about the trace of the autonomous vehicle for the sea floor prospecting, double- ring, series -connection closed-loop control mode is used in the paper. Fuzzy controller is used for controlling velocity in the inner-ring, and fuzzy neutral network controller is used in the out ring. For optimizing the control performance, chaotic algorithm is used to optimize the parameters in the fuzzy controller and the structure, weights and membership function in the fuzzy neural network controller. The experimental results show: Quick response speed, better self-adaptive performance and higher control quality are obtained in the system. With the increase of the population, resources are need much more for human beings. Despite that there are so many kinds of resources which have been discovered in the continent, the continental resources decreased quickly, and cannot satisfied the demand from human beings. The scientists have proven that there are so rich kinds of resources which exist in the deep ocean, so people gradually look for those resources in the deep ocean. Many mental ores are located in the surface of sea floor which range from minus 3 km to 6 km. the pressure in the minus 6 km sea floor is up to 500 atmospheric pressures. People cannot operate directly in the deep sea floor for those ores. Hence the research on the autonomous vehicle for sea floor prospecting which used for substituting human is appeared. Considering the complexity which the autonomous vehicle will meet in the sea floor, those factors are included: variable geological conditions, the ocean flow from different cross layer, and random motions from transportation tubes. These interferences are non-linear, unpredictable and random variable. The normal control algorithm cannot be realized in the complex control process. Fuzzy control is a non-mode control method based on knowledge, and no need for precise mathematical mode. It can be applied in complicated industrial control with good robust performance. The control theme for the autonomous vehicle for sea floor prospecting is based on position setting and race tracing. A double -ring, series -connection closed-loop control system is used for ensuring the quickness and precision to the race tracing. Fuzzy neural network is used to control the position of the autonomous vehicle in the out ring. Fuzzy controller is used to control the velocity of the autonomous vehicle in the inner ring. At the same time , according to the characteristic of the chaotic variables, the structure and the parameters in the fuzzy neural network and the parameters in the fuzzy controller are searched and optimized with chaotic optimization theory in the system, the optimized efficiency and performance are improved.