Autonomous Navigation of an Underwater Robot in the Presence of Multiple Moving Obstacles | Zendy

Kyoung-Youb Kwon | Zendy; Joongseon Joh | Zendy

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Autonomous Navigation of an Underwater Robot in the Presence of Multiple Moving Obstacles

Author(s) -

Kyoung-Youb Kwon,

Joongseon Joh

Publication year - 2005

Publication title -

international journal of fuzzy logic and intelligent systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.296

H-Index - 9

eISSN - 2093-744X

pISSN - 1598-2645

DOI - 10.5391/ijfis.2005.5.2.124

Subject(s) - underwater , computer science , artificial intelligence , robot , computer vision , autonomous robot , mobile robot navigation , mobile robot , robot control , geology , oceanography

Obstacle avoidance of underwater robots based on a modified virtual force field algorithm is proposed in this paper. The VFF(Virtual Force Field) algorithm, which is widely used in the field of mobile robots, is modified for application to the obstacle avoidance of underwater robots. This Modified Virtual Force Field(MVFF) algorithm using the fuzzy lgoc can be used in moving obstacles avoidance. A fuzzy algorithm is devised to handle various situations which can be faced during autonomous navigation of underwater robots. The proposed obstacle avoidance algorithm has ability to handle multiple moving obstacles. Results of simulation show that the proposed algorithm can be efficiently applied to obstacle avoidance of the underwater robots.

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