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In real system application, the path planning and following system for the coordinated control of heterogeneous marine robots based on the underwater acoustic communication has the f ollowing problems: surface and underwater robots have different maneuvering properties, an underwater robot requires more effective operating, it has a limited communication range because of the transmission loss (TL) of ac oustic wave, it has a communication error because of the Doppler distortion of acoustic wave, and further, it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent path pl anning algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC) based on system modeling, is p roposed. To verify the performance of the proposed algorithm, the path planning and following of an underwater rob ot is performed according to the maneuvering of a surface robot. Simulation results show that the proposed algori thm effectively solves the problems.

Intelligent Path Planning and Following for Coordinated Control of Heterogeneous Marine Robots