A three-dimensional simulation of an AUV (Autonomous Underwater Vehicle) is presented. The vehicle must navigate through obstacles towards a stationary goal point. The AUV has a limited set of sensors, including sonar, and can set its speed and direction each decision cycle. A strategy is required that is expressed as a set of reactive rules, (i.e. stimulus-response rules) that map sensor readings to actions to be performed at each decision time step. The system does not learn a specific path, but a set of rules that reactively decide a move at each time step allowing the vehicle to reach its goal and avoid the obstacles.
A fuzzy-based manoeuvre management system for an autonomous underwater vehicle
Ein auf Fuzzy-Logik basierendes Manövermanagementsystem für ein autonomes Unterwasserfahrzeug
2005
6 Seiten, 7 Bilder, 3 Quellen
Aufsatz (Konferenz)
Englisch
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