Using of soft computing techniques to control of underwater robot

Abstract

Applying of artificial intelligence techniques to designing of an autopilot for path following control of an underwater robotic vehicle is considered in the paper. The way-point line of sight scheme is incorporated for the tracking of the reference path and four independent fuzzy controllers are used to generate command signals. Parameters of membership functions of input and output are tuned using genetic algorithms. Quality of control is concerned without and in presence of external disturbances. Some computer simulations are provided to demonstrate the effectiveness and robustness of the approach.